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stepper_half_step.ino
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stepper_half_step.ino
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#define IN1 8
#define IN2 9
#define IN3 10
#define IN4 11
int Paso [ 8 ][ 4 ] =
{ {1, 0, 0, 0},
{1, 1, 0, 0},
{0, 1, 0, 0},
{0, 1, 1, 0},
{0, 0, 1, 0},
{0, 0, 1, 1},
{0, 0, 0, 1},
{1, 0, 0, 1}
};
int steps_left = 4095;
boolean Direction = true;
int Steps = 0; // Define el paso actual de la secuencia
void setup()
{
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
}
void loop()
{
while (steps_left > 0)
{
stepper() ; // Avanza un paso
steps_left-- ; // Un paso menos
delay (1) ;
}
delay(300);
Direction = ! Direction; // Invertimos la direceccion de giro
steps_left = 4095;
}
void stepper() //Avanza un paso
{
digitalWrite( IN1, Paso[Steps][ 0] );
digitalWrite( IN2, Paso[Steps][ 1] );
digitalWrite( IN3, Paso[Steps][ 2] );
digitalWrite( IN4, Paso[Steps][ 3] );
SetDirection();
}
void SetDirection()
{
if (Direction)
Steps++;
else
Steps--;
Steps = ( Steps + 8 ) % 8 ;
}