X-Git-Url: http://git.piffa.net/web?a=blobdiff_plain;ds=sidebyside;f=motors%2Fstepper%2Fstep_3_half_step%2Fstep_3_half_step.ino;fp=motors%2Fstepper%2Fstep_3_half_step%2Fstep_3_half_step.ino;h=3f1c85c92ab2837e204273aac5caefc184b0dba1;hb=daadffcffaf4c0618a6008c7582ceb92aaae64ed;hp=0000000000000000000000000000000000000000;hpb=bed0e6592e7e7fc144a3787ce0dcb20556aff7db;p=sketchbook_andrea

diff --git a/motors/stepper/step_3_half_step/step_3_half_step.ino b/motors/stepper/step_3_half_step/step_3_half_step.ino
new file mode 100644
index 0000000..3f1c85c
--- /dev/null
+++ b/motors/stepper/step_3_half_step/step_3_half_step.ino
@@ -0,0 +1,131 @@
+
+
+/*
+       BYJ48 Stepper motor code
+ Connect :
+ IN1 >> D8
+ IN2 >> D9
+ IN3 >> D10
+ IN4 >> D11
+ VCC ... 5V Prefer to use external 5V Source
+ Gnd
+ written By :Mohannad Rawashdeh
+ http://www.instructables.com/member/Mohannad+Rawashdeh/
+ 28/9/2013
+ */
+
+#define IN1  8
+#define IN2  9
+#define IN3  10
+#define IN4  11
+int Steps = 0;
+boolean Direction = true;// gre
+unsigned long last_time;
+unsigned long currentMillis ;
+int steps_left=4095;
+long time;
+void setup()
+{
+  Serial.begin(115200);
+  pinMode(IN1, OUTPUT); 
+  pinMode(IN2, OUTPUT); 
+  pinMode(IN3, OUTPUT); 
+  pinMode(IN4, OUTPUT); 
+  // delay(1000);
+
+}
+void loop()
+{
+  while(steps_left>0){
+    currentMillis = micros();
+    if(currentMillis-last_time>=1000){
+      stepper(1); 
+      time=time+micros()-last_time;
+      last_time=micros();
+      steps_left--;
+    }
+  }
+  Serial.println(time);
+  Serial.println("Wait...!");
+  delay(2000);
+  Direction=!Direction;
+  steps_left=4095;
+}
+
+void stepper(int xw){
+  for (int x=0;x<xw;x++){
+    switch(Steps){
+    case 0:
+      digitalWrite(IN1, LOW); 
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, HIGH);
+      break; 
+    case 1:
+      digitalWrite(IN1, LOW); 
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, HIGH);
+      digitalWrite(IN4, HIGH);
+      break; 
+    case 2:
+      digitalWrite(IN1, LOW); 
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, HIGH);
+      digitalWrite(IN4, LOW);
+      break; 
+    case 3:
+      digitalWrite(IN1, LOW); 
+      digitalWrite(IN2, HIGH);
+      digitalWrite(IN3, HIGH);
+      digitalWrite(IN4, LOW);
+      break; 
+    case 4:
+      digitalWrite(IN1, LOW); 
+      digitalWrite(IN2, HIGH);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, LOW);
+      break; 
+    case 5:
+      digitalWrite(IN1, HIGH); 
+      digitalWrite(IN2, HIGH);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, LOW);
+      break; 
+    case 6:
+      digitalWrite(IN1, HIGH); 
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, LOW);
+      break; 
+    case 7:
+      digitalWrite(IN1, HIGH); 
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, HIGH);
+      break; 
+    default:
+      digitalWrite(IN1, LOW); 
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, LOW);
+      break; 
+    }
+    SetDirection();
+  }
+} 
+void SetDirection(){
+  if(Direction==1){ 
+    Steps++;
+  }
+  if(Direction==0){ 
+    Steps--; 
+  }
+  if(Steps>7){
+    Steps=0;
+  }
+  if(Steps<0){
+    Steps=7; 
+  }
+}
+
+