rotating-cat.ino

#define STEPPER_PIN_1 9
#define STEPPER_PIN_2 10
#define STEPPER_PIN_3 11
#define STEPPER_PIN_4 12
#define POTENTIOMETER_PIN 0

int stepNumber = 0;
int sensorValue = 0;
int mappedSensorValue = 0;
int delayValue = 2;

void setup() {
  pinMode(STEPPER_PIN_1, OUTPUT);
  pinMode(STEPPER_PIN_2, OUTPUT);
  pinMode(STEPPER_PIN_3, OUTPUT);
  pinMode(STEPPER_PIN_4, OUTPUT);
}

void loop() {
  sensorValue = analogRead(POTENTIOMETER_PIN);
  mappedSensorValue = map(sensorValue, 0, 1023, 2, 98);

  if (mappedSensorValue > 55) {
    stepMotor(false);
    delayValue = 100 - mappedSensorValue;
  } else if (mappedSensorValue < 45) {
    stepMotor(true);
    delayValue = mappedSensorValue;
  } else {
    // make the potentiometer more stable in the off position
    delayValue = 20;
  }
  delay(delayValue);
}

void stepMotor(bool isClockwise) {
  if(isClockwise) {
    switch(stepNumber) {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH);
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW);
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW);
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW);
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
    } 
  } else {
    switch(stepNumber) {
      case 0:
        digitalWrite(STEPPER_PIN_1, LOW);
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW);
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW);
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, HIGH);
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
    } 
  }
  stepNumber++;
  if(stepNumber > 3) {
    stepNumber = 0;
  }
}