Hello, the good news is that a polarshield is controlled in exactly the same way as easydrivers. During the start, you specify three pins for each driver:
- enable
- direction
- step

Polargraph uses Accelstepper. In the version for the UNO, then it is designed to be used in conjunction with Adafruit's motorshield, and so it uses AFMotor. In the version for the arduino MEGA, then it is designed to use _any_ serial stepper driver that has the three pins listed above. You would need to wire your steppers to the same pins as it expects, and voila, it'll work.

sandy noble

yep, just replace the AFMotor stuff, and the existing AccelStepper declarations with the versions from the _polarshield variant:

AccelStepper motorA(1,MOTOR_A_STEP_PIN, MOTOR_A_DIR_PIN); 
AccelStepper motorB(1,MOTOR_B_STEP_PIN, MOTOR_B_DIR_PIN); 

https://github.com/euphy/polargraph_server_polarshield/blob/master/configuration.ino#L99-L100

and

  pinMode(MOTOR_A_ENABLE_PIN, OUTPUT);
  digitalWrite(MOTOR_A_ENABLE_PIN, HIGH);
  pinMode(MOTOR_B_ENABLE_PIN, OUTPUT);
  digitalWrite(MOTOR_B_ENABLE_PIN, HIGH);
  motorA.setEnablePin(MOTOR_A_ENABLE_PIN);
  motorA.setPinsInverted(false, false, true);
  motorB.setEnablePin(MOTOR_B_ENABLE_PIN);
  motorB.setPinsInverted(true, false, true);

https://github.com/euphy/polargraph_server_polarshield/blob/master/configuration.ino#L122-L129

Oh hi, I noticed the links embedded in the previous post were broken - so I've fixed them. They point to the file that needs to be updated.

So the motors are configured in configuration.ino. I don't _think_ you'll need to change code in other files. You can actually remove the whole section https://github.com/euphy/polargraph_server_a1/blob/master/configuration.ino#L21-L73 and replace it with the section https://github.com/euphy/polargraph_server_polarshield/blob/master/configuration.ino/#L99-L138.

You will need to define which pins you have used to wire it up by putting

  #define MOTOR_A_ENABLE_PIN 3
  #define MOTOR_A_STEP_PIN 4
  #define MOTOR_A_DIR_PIN 5
  
  #define MOTOR_B_ENABLE_PIN 6
  #define MOTOR_B_STEP_PIN 7
  #define MOTOR_B_DIR_PIN 8

just above it.

Avoid using pin 9 - it's the pen lift servo pin. (Unless you want to redefine that too - https://github.com/euphy/polargraph_server_a1/blob/master/polargraph_server_a1.ino#L88)

good luck!
sn