Machine.beginMpg()

#include "Motion86.h"
#include "Encoder.h"
 
// Generate machine objects, up to machine 0~2 three machines, each machine has three axes. 
Machine machine(0);
 
// Stepper motor enable pin.
int EnablePin = 4;
 
void setup() {
 
  while (!Serial);
  // In this example, the hand crank has been installed on Enc3.
  Enc3.begin(MODE_AB_PHASE);
  pinMode(EnablePin, OUTPUT);
 
  // If necessary, the motion direction of the motion axis can be reversed.
  // In this example, the direction of x-axis and y-axis should be reversed.
  machine.config_ReverseDirection(AXIS_X);
  machine.config_ReverseDirection(AXIS_Y);
 
  // PPU (pulse per unit) is a virtual length unit, depending on different requirements.
  // In this example, the unit length of x-axis is set to 80 pulses, which corresponds to 1 mm in real application.
  machine.config_PPU(AXIS_X, 80.0);
  machine.config_PPU(AXIS_Y, 80.0);
  machine.config_PPU(AXIS_Z, 1600.0);
 
  // The machine must be started before control.
  machine.machineOn();
 
  // Trigger Mpg control with Enc3.
  machine.beginMpg(Enc3);
 
  // Select the target axis to be controlled by Mpg handwheel.
  machine.setMpgAxis(AXIS_X);
  // machine.setMpgAxis(AXIS_Y);
  // machine.setMpgAxis(AXIS_Z);
 
  // Feed speed in Mpg mode.
  machine.setMpgSpeed(600);
 
  // MpgRatio is the ratio of handwheel to machine travel distance, the parameter value should be greater than 0.
  machine.setMpgRatio(1);
 
  // Start the stepping motor.
  digitalWrite(EnablePin, LOW);
digitalWrite(EnablePin, LOW); }
 
void loop() {
  Serial.print("Mpg position = ");
  Serial.print(machine.getJogPos(AXIS_X));
  Serial.print(", ");
  Serial.print(machine.getJogPos(AXIS_Y));
  Serial.print(", ");
  Serial.println(machine.getJogPos(AXIS_Z));
  delay(500);
}