67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
/*
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Example sketch to control a stepper motor with A4988 stepper motor driver,
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AccelStepper library and Arduino: continuous rotation.
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More info: https://www.makerguides.com
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*/
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// Include the AccelStepper library:
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#include "AccelStepper.h"
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// Define stepper motor connections and motor interface type.
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// Motor interface type must be set to 1 when using a driver
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#define dirPin 2
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#define stepPin 3
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#define motorInterfaceType 1
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#define ms1Pin 4
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#define ms2Pin 5
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#define ms3Pin 6
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#define speedPin A0
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double lastTime = 0;
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double thisTime = 0;
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const int SPEED_MIN = 50;
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const int SPEED_MAX = 800;
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// #define irPin 7
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// Create a new instance of the AccelStepper class:
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AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
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void setup() {
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Serial.begin(115200);
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// Set the maximum speed in steps per second:
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stepper.setMaxSpeed(4000);
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// MS
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// 1 2 3
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// 0 0 0 full
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// 1 0 0 1/2
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// 0 1 0 1/4
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// 0 0 1 1/8
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// 1 1 1 1/16
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digitalWrite(ms1Pin, 1);
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digitalWrite(ms2Pin, 1);
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digitalWrite(ms3Pin, 1);
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// Set the speed in steps per second:
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stepper.setSpeed(200);
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}
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void loop() {
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thisTime = millis();
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if ((thisTime - lastTime) > 1000) {
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lastTime = thisTime;
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int speed_in = analogRead(speedPin);
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Serial.print("speed_in : ");
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Serial.print(speed_in);
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int speed = map(speed_in, 0, 1023, SPEED_MIN, SPEED_MAX);
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Serial.print(" | speed : ");
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Serial.println(speed);
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stepper.setSpeed(speed);
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}
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// Step the motor with a constant speed as set by setSpeed():
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stepper.runSpeed();
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} |