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// This Arduino example demonstrates bidirectional operation of a
// 28BYJ-48, using a ULN2003 interface board to drive the stepper.
// The 28BYJ-48 motor is a 4-phase, 8-beat motor, geared down by
// a factor of 68. One bipolar winding is on motor pins 1 & 3 and
// the other on motor pins 2 & 4. The step angle is 5.625/64 and the
// operating Frequency is 100pps. Current draw is 92mA.
////////////////////////////////////////////////
//declare variables for the motor pins
int motorPin1 = 8; // Arduino pin 8 -> IN1
int motorPin3 = 9; // Arduino pin 9 -> IN3
int motorPin2 = 10; // Arduino pin 10 -> IN2
int motorPin4 = 11; // Arduino pin 11 -> IN4
int motorSpeed = 3000; //variable to set stepper speed
int count = 0; // count of steps made
int countsperrev = 528; // number of steps per full revolution
const int len = 4;
uint8_t lookup[len] = {
B01100, B00110, B00011, B01001};
//////////////////////////////////////////////////////////////////////////////
void setup() {
//declare the motor pins as outputs
pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
pinMode(motorPin3, OUTPUT);
pinMode(motorPin4, OUTPUT);
Serial.begin(9600);
}
//////////////////////////////////////////////////////////////////////////////
void loop(){
if(count < countsperrev )
clockwise();
else if (count == countsperrev * 2)
count = 0;
else
anticlockwise();
count++;
}
//////////////////////////////////////////////////////////////////////////////
//set pins to ULN2003 high in sequence from 1 to 4
//delay "motorSpeed" between each pin setting (to determine speed)
void anticlockwise()
{
for(int i = 0; i < len; i++)
{
setOutput(i);
delayMicroseconds(motorSpeed);
}
}
void clockwise()
{
for(int i = (len-1); i >= 0; i--)
{
setOutput(i);
delayMicroseconds(motorSpeed);
}
}
void setOutput(uint8_t out)
{
Serial.print("setOutput: ");
Serial.println(out % len);
digitalWrite(motorPin1, bitRead(lookup[out], 0));
digitalWrite(motorPin2, bitRead(lookup[out], 1));
digitalWrite(motorPin3, bitRead(lookup[out], 2));
digitalWrite(motorPin4, bitRead(lookup[out], 3));
//delay(500); // Uncomment to see the phases/LEDs turning on/off on the driver board
}
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