Stepping Motor

Digital I/O
Analog I/O
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Overview
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This library enables control of stepping motors connected to the GR-ROSE board. To use, specify #include <stepper.h>.

Stepper ()

Description

This constructor creates Stepper Class instances.

Syntax

Stepper(steps, pin1, pin2)
Stepper(steps, pin1, pin2, pin3, pin4)

Parameters

steps: The number of steps in one revolution (360 degrees) of the motor. 100 indicates 3.6 degrees per step.(int)
pins 1 - 4: Pins for connection to a motor.

Returns

None

setSpeed

Description

Sets the motor speed in rotations per minute (RPMs).

Syntax

setSpeed(long rpms)

Parameters

rpms: The speed at which the motor should turn in rotations per minute [rpm].

Returns

None

step

Description

Turns the motor a specific number of steps.

Syntax

step(int steps)

Parameters

steps: The number of steps to turn the motor - positive to turn one direction, negative to turn the other.

Returns

None

#include <Arduino.h>
#include <Stepper.h>

// change this to the number of steps on your motor
#define STEPS 100
 
// create an instance of the stepper class, specifying
// the number of steps of the motor and the pins it's
// attached to
Stepper stepper(STEPS, 8, 9, 10, 11);
 
// the previous reading from the analog input
int previous = 0;
 
void setup()
{
  // set the speed of the motor to 30 RPMs
  stepper.setSpeed(30);
}
 
void loop()
{
  // get the sensor value
  int val = analogRead(A0);
 
  // move a number of steps equal to the change in the
  // sensor reading
  stepper.step(val - previous);
 
  // remember the previous value of the sensor
  previous = val;
}