moteur + accelerometre sans interruption

Rotabator.ino

@@ -33,20 +33,20 @@ S20A is 3.3V voltage regulator MIC5205-3.3BM5
 */
 
 #include "MPU9250.h"
-#include "AccelStepper.h"
 
 float biai = 1.25;
-
+unsigned long previousTime;
+int interval = 300;
+int stepPin = 14;
+int dirPin = 12;
+bool pinState = LOW;
 // an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
 MPU9250 IMU(Wire,0x68);
 int status;
-AccelStepper stepper;
 
 void setup() {
   // serial to display data
   Serial.begin(115200);
-  stepper.setMaxSpeed(1700);
-  stepper.setSpeed(1700);
   while(!Serial) {}
 
   // start communication with IMU 
@@ -58,21 +58,20 @@ void setup() {
     Serial.println(status);
     while(1) {}
   }
+  pinMode(stepPin,OUTPUT);
+  pinMode(dirPin,OUTPUT);
 }
 
 void loop() {
   // read the sensor
+  digitalWrite(dirPin,HIGH);
   IMU.readSensor();
-  stepper.runSpeed();
   // display the data
-  Serial.print("AccelX: ");
-  Serial.print(IMU.getAccelX_mss(),2);
-  Serial.print("	");
-  Serial.print("AccelY: ");  
-  Serial.print(IMU.getAccelY_mss(),2);
-  Serial.print("	");
-  Serial.print("AccelZ: ");  
-  Serial.println(IMU.getAccelZ_mss() + biai,2);
 
-  delay(200);
+  if((micros() - previousTime) >= interval){
+    previousTime = micros();
+    pinState = !pinState;
+    digitalWrite(stepPin,pinState);
+    Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
+  }
 }