A full circle is drawn using either a clockwise arc or counterclockwise. The direction is viewed from the positive direction of the X-axis where the circular motion occurs.

This method uses the center-of-circle mode to control the path of the arc, and because it is a complete circular motion, the target position will return to the starting position.

For more information about the various motion methods, please see the Motion Methods explanation page.


machine.circleYZ(cY, cZ);
machine.circleYZ(cY, cZ, revDir);
machine.circleYZ(cY, cZ, revDir, feedrate);


  • machine: Machine object.
  • cY: The center Y coordinate of the circle in center mode.
  • cZ: the center Z coordinate of the circle in circle mode.
  • revDir: reversing direction, use true when counterclockwise, use false when clockwise, default is clockwise.
  • feedrate: Feedrate, the last recorded feedrate will be used when no parameter is passed.



  • true: The machine exists and was created successfully.
  • false: The machine does not exist or failed to be created.


Set the basic parameters of the machine and round the machine in the YZ plane.

#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, the motion direction of the motion axis can be reversed.
  // In this example, the direction of x-axis and y-axis should be reversed.
  // 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.
  // Start the stepper motor.
  digitalWrite(EnablePin, LOW);
void loop() {
  // Move a circle clockwise with the center of the circle (0, 0, 10).
  machine.circleYZ(0, 10, true);
  // Move a circle counterclockwise with the center of the circle (0, 0, 10).
  machine.circleYZ(0, 10, false);
  // Wait until the planned movement is complete.
  while (machine.isMoving());

See also

Libraries Reference Home

86Duino のリファレンスのテキストは Arduino レファレンス を編集したもので、 Creative Commons Attribution-ShareAlike 3.0 License下でライセンスされています。リファレンス内のコードサンプルはパブリックドメインとして公開されています。