Arduino-Jetson-nano-stepper-interface

Control Multiple Stepper Motor with Arduino uno/mega/nano and Jetson nano

Arduino installation

• Follow this repo to install Arduino on Jetson nano: https://github.com/JetsonHacksNano/installArduinoIDE.git
• To get Temporary access to USB: sudo chown <user-name> /dev/tty<usb> and sudo chmod a+rw /dev/tty<usb>
• To set Permenantly change USB device permission: http://ask.xmodulo.com/change-usb-device-permission-linux.html
• To control arduino from Command line Source:https://github.com/arduino/arduino-cli

Hardware requirement

Specification	Value
Jetson Nano	nano dev kit
Arduino	Mega 2560
3 Stepper with 6A driver	87kgcm torque, without Encoder
3 limit switch	40-50mm length
UART	USB-TTL cable

Description

To control steper motor from jetson nano via arduino

1. At initial, arduino will wait for serial command 'X' from jetson nano (communication over UART)
2. After receiving 'X' from jetson nano, stepper motor will start rotate with contant speed untill it receives interrupt from 'limit switch' on arduino interrupt pin.
3. After interrupt, motor will stop and that position will be 0 degree (initial position of motor) Note: Above steps are used here for getting all stepper motors align to initial position
4. To rotate stepper motor with precise movement from jetson nano, send command 'G<pos1>A<pos2>B<pos3>C' to arduino Note: pos1 = theta1 * (motorMicrostep/360) #theta1 in degree

References

1. Stepper Motor control Library for Arduino

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