Arduino Accel stepper library always stepping at 1 step/s

Question

I want to move two steppers using a joystick. I'm using the Accel Stepper library, and I am using my own code to poll the joystick (which works well btw).

The problem is that even if I'm setting the motors to run at the maximum speed (200 steps/s), I only get at most 1 steps/s, no matter what I've tried.

EDIT : I haven't wired up the stepper drivers yet (TMC2225), but I'm reading the steps number directly from the library ( stepper.currentPosition() ), for testing purposes. It works fine with the constant speed example.

I've tried to set a very large maximum speed, and specifying a move distance, but the results where the same.

Does anyone have an idea on what I am missing ? Thank you very much for the help.

// Steppers definition
AccelStepper steppers[] = {AccelStepper(AccelStepper::DRIVER, STEPPER_1_STEP_PIN, STEPPER_1_DIR_PIN),
                           AccelStepper(AccelStepper::DRIVER, STEPPER_2_STEP_PIN, STEPPER_2_DIR_PIN)};

// This function is called at setup()
void initSteppers()
{
  for (uint8_t i = 0; i < 2; i++)
  {
    steppers[i].setEnablePin(STEPPER_EN_PIN);
    steppers[i].setMaxSpeed(maxMotorSpeed);
    steppers[i].setAcceleration(maxMotorAccel);
  }
}

// This one is called when the user is allowed to move the motors
void moveWithJoystick()
{
  int currentJoystickValue[2] = {};
  int loopCount = 0;

  while (!joystickReadButton())
  {
    // Polling the joystick values every 100~200 ms
    if (loopCount >= 10000)
    {
      for (uint8_t i = 0; i < 2; i++)
      {
        loopCount = 0;
        currentJoystickValue[i] = joystickReadAxis(i, JOYSTICK_MOVE_DEADZONE);
        // speed value is between -maxSpeed and maxSpeed
        float speed = computeManualSpeed(currentJoystickValue[i]);
        steppers[i].setSpeed(speed);
      }
    }

    // Polling the steppers to step.
    for (uint8_t i = 0; i < 2; i++)
      steppers[i].runSpeed();
    loopCount += 1;
  }
}

Answer 1

Okay, I finnaly found the problem. My code works fine, but I forgot to initialize the steppers at startup. So their max speed defaulted to 1 step/s, hence the stepping rate.