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#define STEP_PIN 12 #define DIR_PIN 11 #define ENABLE_PIN 10 const int maxSpeed = 1000; // Maximum speed (steps per second) const int maxAcceleration = 500; // Maximum acceleration (steps per second^2) void setup() { pinMode(STEP_PIN, OUTPUT); pinMode(DIR_PIN, OUTPUT); pinMode(ENABLE_PIN, OUTPUT); digitalWrite(ENABLE_PIN, LOW); // Enable the driver Serial.begin(9600); Serial.println("Enter command: 'm [steps]' to move forward, 'p [steps]' to move backward."); } // Function to move the stepper motor with soft start and stop (acceleration and deceleration) void stepperMove(int steps, bool direction, int maxSpeed, int maxAcceleration) { digitalWrite(DIR_PIN, direction); // Set direction float currentSpeed = 0; // Start at 0 speed int speedDelay; int accelerationSteps = (maxSpeed * maxSpeed) / (2 * maxAcceleration); // Number of steps needed for acceleration/deceleration for (int i = 0; i < steps; i++) { // Acceleration phase if (i < accelerationSteps && currentSpeed < maxSpeed) { currentSpeed += (float)maxAcceleration / maxSpeed; if (currentSpeed > maxSpeed) currentSpeed = maxSpeed; } // Deceleration phase if (i >= steps - accelerationSteps && currentSpeed > 0) { currentSpeed -= (float)maxAcceleration / maxSpeed; if (currentSpeed < 0) currentSpeed = 0; } speedDelay = 1000000 / currentSpeed; // Convert speed to delay in microseconds digitalWrite(STEP_PIN, HIGH); // Step motor delayMicroseconds(speedDelay); // Control speed digitalWrite(STEP_PIN, LOW); delayMicroseconds(speedDelay); // Control speed } } // Function to check serial input and execute commands void checkSerial() { if (Serial.available() > 0) { String input = Serial.readStringUntil(' '); // Read the input until a newline character input.trim(); // Remove any leading or trailing whitespace char command = input.charAt(0); // First character is the command ('m' or 'p') int steps = input.substring(2).toInt(); // Extract the steps from the input string if (steps > 0) { if (command == 'm') { Serial.print("Moving forward "); Serial.print(steps); Serial.println(" steps..."); stepperMove(steps, HIGH, maxSpeed, maxAcceleration); } else if (command == 'p') { Serial.print("Moving backward "); Serial.print(steps); Serial.println(" steps..."); stepperMove(steps, LOW, maxSpeed, maxAcceleration); } else { Serial.println("Invalid command. Use 'm' or 'p' followed by a number of steps."); } } else { Serial.println("Invalid number of steps."); } } } void loop() { checkSerial(); // Check for serial input and execute commands }

#ifndef STEPPERMOTOR_H #define STEPPERMOTOR_H #include <Arduino.h> class StepperMotor { public: StepperMotor(int stepPin, int dirPin, int enablePin, int potPin); void initialize(); void determineDirection(); void moveMotor(); private: int stepPin; int dirPin; int enablePin; int potPin; int potValue; int stepDelay; int direction; }; #endif

#include "StepperMotor.h" StepperMotor::StepperMotor(int stepPin, int dirPin, int enablePin, int potPin) { this->stepPin = stepPin; this->dirPin = dirPin; this->enablePin = enablePin; this->potPin = potPin; this->potValue = 0; this->stepDelay = 0; this->direction = 1; } void StepperMotor::initialize() { pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); digitalWrite(enablePin, LOW); // LOW to enable, HIGH to disable } void StepperMotor::determineDirection() { potValue = analogRead(potPin); // Read the potentiometer value (0-1023) if (potValue < 500) { direction = 1; // Forward stepDelay = map(potValue, 0, 500, 500, 1500); // Map to a delay range in microseconds } else if (potValue > 550) { direction = 0; // Backward stepDelay = map(potValue, 550, 1023, 1500, 500); // Map to a delay range in microseconds } else { stepDelay = 0; // Stop the motor if the potentiometer is at 512 } digitalWrite(dirPin, direction); } void StepperMotor::moveMotor() { if (stepDelay > 0) { // Only pulse the step pin if the speed is not zero digitalWrite(stepPin, HIGH); delayMicroseconds(stepDelay); // Control the speed with delay digitalWrite(stepPin, LOW); delayMicroseconds(stepDelay); // Control the speed with delay } }

// Pin assignments #include "StepperMotor.h" StepperMotor motor1(9, 8, 7, A5); StepperMotor motor2(12, 11, 10, A4); void setup() { // put your setup code here, to run once: motor1.initialize(); motor2.initialize(); } void loop() { motor1.determineDirection(); motor1.moveMotor(); motor2.determineDirection(); motor2.moveMotor();

// Pin assignments const int stepPin = 9; // Pin for PUL+ (Pulse Positive) const int dirPin = 8; // Pin for DIR+ (Direction Positive) const int enablePin = 7; // Optional: Pin for EN+ (Enable Positive) const int potPin = A5; // Analog pin for the potentiometer int potValue = 0; // Variable to store the potentiometer value int stepDelay = 0; // Delay between steps (controls speed) int direction = 1; // Variable to store the direction (1 for forward, 0 for backward) void setup() { Serial.begin(9600); pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); enableDriver(); // Enable the driver } void loop() { readPotentiometer(); determineDirection(); moveMotor(); } void enableDriver() { // Enable the driver (optional) digitalWrite(enablePin, LOW); // LOW to enable, HIGH to disable } void readPotentiometer() { // Read the potentiometer value (0-1023) potValue = analogRead(potPin); } void determineDirection() { // Determine the direction based on the potentiometer value if (potValue < 450) { direction = 1; // Forward stepDelay = map(potValue, 0, 450, 500, 1500); // Map to a delay range in microseconds } else if (potValue > 550) { direction = 0; // Backward stepDelay = map(potValue, 550, 1023, 1500, 500); // Map to a delay range in microseconds } else { stepDelay = 0; // Stop the motor if the potentiometer is centered } // Set the direction digitalWrite(dirPin, direction); } void moveMotor() { // Move the motor based on the calculated delay if (stepDelay > 0) { // Only pulse the step pin if the speed is not zero // Pulse the step pin to move the motor digitalWrite(stepPin, HIGH); delayMicroseconds(stepDelay); // Control the speed with delay digitalWrite(stepPin, LOW); delayMicroseconds(stepDelay); // Control the speed with delay } }

// Pin assignments const int stepPin = 9; // Pin for PUL+ (Pulse Positive) const int dirPin = 8; // Pin for DIR+ (Direction Positive) const int enablePin = 7; // Optional: Pin for EN+ (Enable Positive) const int potPin = A5; // Analog pin for the potentiometer int potValue = 0; // Variable to store the potentiometer value int stepDelay = 0; // Delay between steps (controls speed) int direction = 1; // Variable to store the direction (1 for forward, 0 for backward) void setup() { Serial.begin(9600); pinMode(stepPin, OUTPUT); pinMode(dirPin, OUTPUT); pinMode(enablePin, OUTPUT); // Enable the driver (optional) digitalWrite(enablePin, LOW); // LOW to enable, HIGH to disable } void loop() { potValue = analogRead(potPin); // Read the potentiometer value (0-1023) // Determine the direction based on the potentiometer value if (potValue < 450) { direction = 1; // Forward stepDelay = map(potValue, 0, 450, 500, 1500); // Map to a delay range in microseconds } else if (potValue > 550) { direction = 0; // Backward stepDelay = map(potValue, 550, 1023, 1500, 500); // Map to a delay range in microseconds } else { stepDelay = 0; // Stop the motor if the potentiometer is at 512 } // Set the direction digitalWrite(dirPin, direction); if (stepDelay > 0) { // Only pulse the step pin if the speed is not zero // Pulse the step pin to move the motor digitalWrite(stepPin, HIGH); delayMicroseconds(stepDelay); // Control the speed with delay digitalWrite(stepPin, LOW); delayMicroseconds(stepDelay); // Control the speed with delay } }

#include "MotorControl.h" // Define the connection pins for Motor 1 and Motor 2 MotorControl motor1(12, 11, 10, 200, 100); // stepPin, dirPin, enaPin, interval, stepsPerRevolution MotorControl motor2(9, 8, 7, 50, 400); // stepPin, dirPin, enaPin, interval, stepsPerRevolution void setup() { motor1.setup(); motor2.setup(); } void loop() { motor1.update(); motor2.update(); }

#include "MotorControl.h" //MotorControl::MotorControl(int stepPin, int dirPin, int enaPin, long interval,int stepsPerRevolution) // : _stepPin(stepPin), _dirPin(dirPin), _enaPin(enaPin), _interval(interval),_stepsPerRevolution(stepsPerRevolution), _previousMillis(0), _stepCount(0) {} MotorControl::MotorControl(int stepPin, int dirPin, int enaPin, long interval, int stepsPerRevolution) { this->_stepPin = stepPin; this->_dirPin = dirPin; this->_enaPin = enaPin; this->_interval = interval; this->_stepsPerRevolution = stepsPerRevolution; this->_previousMillis = 0; this->_stepCount = 0; } void MotorControl::setup() { pinMode(_stepPin, OUTPUT); pinMode(_dirPin, OUTPUT); pinMode(_enaPin, OUTPUT); } void MotorControl::runMotor() { if (_stepCount < _stepsPerRevolution) { digitalWrite(_stepPin, HIGH); delayMicroseconds(50); // Short pulse to trigger the step digitalWrite(_stepPin, LOW); _stepCount++; } } void MotorControl::update() { unsigned long currentMillis = millis(); if (currentMillis - _previousMillis >= _interval) { _previousMillis = currentMillis; runMotor(); } }

#ifndef MOTORCONTROL_H #define MOTORCONTROL_H #include <Arduino.h> class MotorControl { public: MotorControl(int stepPin, int dirPin, int enaPin, long interval, int stepsPerRevolution); void setup(); void runMotor(); void update(); private: int _stepPin; int _dirPin; int _enaPin; long _interval; int _stepsPerRevolution; unsigned long _previousMillis; int _stepCount; }; #endif

// Define the connection pins for Motor 1: #define stepPin1 12 //pulse #define dirPin1 11 //dir #define enaPin1 10 //ena // Define the connection pins for Motor 2: #define stepPin2 9 //pulse #define dirPin2 8 //dir #define enaPin2 7 //ena // Variables to track the timing of steps unsigned long previousMillisMotor1 = 0; unsigned long previousMillisMotor2 = 0; const long intervalMotor1 = 100; // Interval at which to step motor 1 (speed)(microseconds) const long intervalMotor2 = 50; // Interval at which to step motor 2 (speed)(microseconds) //------- void setup() { // put your setup code here, to run once: pinMode(stepPin1,OUTPUT);//Pul pinMode(dirPin1,OUTPUT);//Dir pinMode(enaPin1,OUTPUT); pinMode(stepPin2,OUTPUT);//Pul pinMode(dirPin2,OUTPUT);//Dir pinMode(enaPin2,OUTPUT); } //------- void loop() { unsigned long currentMillis = millis(); // Motor 1 if (currentMillis - previousMillisMotor1 >= intervalMotor1) { previousMillisMotor1 = currentMillis; runMotor1(100); } // Motor 2 if (currentMillis - previousMillisMotor2 >= intervalMotor2) { previousMillisMotor2 = currentMillis; runMotor2(100); } } //------- // Function to step Motor 1 void runMotor1(int stepsPerRevolution) { static int stepCount = 0; if (stepCount < stepsPerRevolution) { digitalWrite(stepPin1, HIGH); delayMicroseconds(50); // Short pulse to trigger the step digitalWrite(stepPin1, LOW); stepCount++; } } // Function to step Motor 2 void runMotor2(int stepsPerRevolution ) { static int stepCount = 0; if (stepCount < stepsPerRevolution) { digitalWrite(stepPin2, HIGH); delayMicroseconds(50); // Short pulse to trigger the step digitalWrite(stepPin2, LOW); stepCount++; } }

#ifndef mysteppers_H #define mysteppers_H #include<Arduino.h> class mysteppers { private: int stepPin;//or _stepPin for example int dirPin; int enaPin; unsigned long step_delay; long number_of_steps; public: mysteppers( int stepPin, int dirPin,int enaPin); void forward (long number_of_steps, unsigned long step_delay); void reverse (long number_of_steps, unsigned long step_delay); }; #endif

#include "mysteppers.h" #include<Arduino.h> mysteppers::mysteppers(int stepPin, int dirPin,int enaPin){ this->stepPin = stepPin;//or _stepPin = stepPin this->dirPin = dirPin; this->enaPin = enaPin; pinMode(this->stepPin, OUTPUT); pinMode(this->dirPin, OUTPUT); pinMode(this->enaPin, OUTPUT); } void mysteppers::forward (long number_of_steps, unsigned long step_delay) { this->number_of_steps = number_of_steps; // total number of steps for this motor this-> step_delay = step_delay; int i; digitalWrite(enaPin,LOW); digitalWrite(dirPin,HIGH); for(i=0;i<number_of_steps;i++){ digitalWrite(stepPin,!digitalRead(stepPin)); delay(step_delay); } digitalWrite(enaPin,HIGH); } void mysteppers::reverse (long number_of_steps, unsigned long step_delay) { this->number_of_steps = number_of_steps; // total number of steps for this motor this-> step_delay = step_delay; int i; digitalWrite(enaPin,LOW); digitalWrite(dirPin,LOW); for(i=0;i<number_of_steps;i++){ digitalWrite(stepPin,!digitalRead(stepPin)); delay(step_delay); } digitalWrite(enaPin,HIGH); }

#include "mysteppers.h" mysteppers stepper1(12, 11, 10); //pul+ , dir+ , ena+ mysteppers stepper2(9, 8, 7); //pul+ , dir+ , ena+ long Steps = 0; //Number of steps long Speed = 0; // milli second char command; //------- void setup() { // put your setup code here, to run once: Serial.begin(9600); Serial.println("enter a command 'f'forward, 'r' reverse, number of steps and speed f 200 10" ); while(Serial.available()==0){} // if there is no serial do not do any command } //------- void loop() { // put your main code here, to run repeatedly: receiveFromSerial(); } //------- void receiveFromSerial(){ if (Serial.available() > 0) { command = Serial.read(); // read the command from the serial switch (command) { case 'f': Steps = Serial.parseFloat(); // take the value of steps from the serial Speed = Serial.parseFloat();// take the value of speed from serial Serial.println("CW."); stepper1.forward(Steps,Speed); // call the function from the class stepper2.forward(Steps,Speed); break; case 'r': Steps = Serial.parseFloat(); Speed = Serial.parseFloat(); Serial.println("CCW."); stepper1.reverse(Steps,Speed); break; default: // statements break; } } }

#define stepPin 12 //pulse #define dirPin 11 //dir #define enaPin 10 //ena long Steps = 0; //Number of steps long Speed = 0; // milli second char command; //------- void setup() { // put your setup code here, to run once: pinMode(stepPin,OUTPUT);//Pul pinMode(dirPin,OUTPUT);//Dir pinMode(enaPin,OUTPUT); Serial.begin(9600); Serial.println("enter a number between 1 to 10000"); while(Serial.available()==0){} } //------- void loop() { // put your main code here, to run repeatedly: receiveFromSerial(); } //------- void receiveFromSerial(){ if (Serial.available() > 0) { command = Serial.read(); switch (command) { case 'a': Steps=Serial.parseInt(); Speed=Serial.parseInt(); Serial.println("CW."); forward(Steps,Speed); break; case 'b': Steps=Serial.parseInt(); Speed=Serial.parseInt(); Serial.println("CCW."); reverse(Steps,Speed); break; default: // statements break; } } } void forward (float steps, float dly){ int i; digitalWrite(enaPin,LOW); digitalWrite(dirPin,HIGH); for(i=0;i<steps;i++){ digitalWrite(stepPin,!digitalRead(stepPin)); delay(dly); } digitalWrite(enaPin,HIGH); } //------- void reverse (float steps, float dly){ int i; digitalWrite(enaPin,LOW); digitalWrite(dirPin,LOW); for(i=0;i<steps;i++){ digitalWrite(stepPin,LOW); digitalWrite(stepPin,HIGH); delay(dly); } digitalWrite(enaPin,HIGH); }

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#define stepPin 12 //pulse #define dirPin 11 //dir #define enaPin 10 //ena int dly=10; //------- void setup() { // put your setup code here, to run once: pinMode(stepPin,OUTPUT);//Pul pinMode(dirPin,OUTPUT);//Dir pinMode(enaPin,OUTPUT); Serial.begin(9600); Serial.println("enter a number between 1 to 10000"); while(Serial.available()==0){} } //------- void loop() { // put your main code here, to run repeatedly: if (Serial.available() > 0) { int Steps=Serial.parseInt(); int inByte = Serial.read(); if(inByte=='a') { Serial.println(Steps); Serial.println("a"); forward(Steps); } else if (inByte=='b'){ Serial.println(Steps); Serial.println("b"); reverse(Steps); } } } //------- void forward (int steps){ int i; digitalWrite(enaPin,LOW); digitalWrite(dirPin,HIGH); for(i=0;i<steps;i++){ digitalWrite(stepPin,!digitalRead(stepPin)); delay(dly); } digitalWrite(enaPin,HIGH); } //------- void reverse (int steps){ int i; digitalWrite(enaPin,LOW); digitalWrite(dirPin,LOW); for(i=0;i<steps;i++){ digitalWrite(stepPin,LOW); digitalWrite(stepPin,HIGH); delay(dly); } digitalWrite(enaPin,HIGH); }