Machine.setRelative()

#include "Motion86.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);
  pinMode(EnablePin, OUTPUT);
  // If necessary, you can reverse the motion direction of the motion axis.
  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();
    // Set the default feed rate.
  machine.setDefaultFeedrate(600);
  // Start the stepper motor.
  digitalWrite(EnablePin, LOW);
    // Use relative incremental value to plan the motion.
    machine.setRelative();
    // Move to the center using the relative incremental value based on the current position.
  machine.line(0,0,10,400);
  machine.line(170,100,0,800);
  machine.line(0,0,-10,400);
}
 
void loop() {
    // Move to the relative position, no feed rate is set here which means the default value is used.
    machine.line(10,0,0);
    machine.line(0,10,0);
    machine.line(-10,0,0);
    machine.line(0,-10,0);
    // Wait until the planned movement is completed
    while (machine.isMoving());
}