Step Motor Drive with THB7128

step_motor_drvie_thb7182

#include <Makeblock.h>
#include <Arduino.h>
#include <SoftwareSerial.h>
#include <Wire.h>
#include <AccelStepper.h>

#define _PIN_CLK_ 13
#define _PIN_CW_ 12

#define _DIP_SW_EXCITATION_ 16
#define _MOTOR_NUMER_OF_STEP_PER_ROUND_ 200
#define _SW_MAX_SETEP_ (_DIP_SW_EXCITATION_ * _MOTOR_NUMER_OF_STEP_PER_ROUND_)

AccelStepper stepper(AccelStepper::DRIVER, _PIN_CLK_, _PIN_CW_);
long current_position;

void setup()
{  
  
  stepper.setAcceleration(100000);
  stepper.setCurrentPosition(0);
  stepper.setMaxSpeed(_DIP_SW_EXCITATION_ * 20);
  
}

void loop() 
{  
  current_position = stepper.currentPosition();

  if(current_position >= _SW_MAX_SETEP_)
  {
    stepper.moveTo(0);
  }
  if(current_position <= 0)
  {
    stepper.moveTo(_SW_MAX_SETEP_);
  }
  stepper.run();
  
}