Scribd
Upload
246 views3 pages

Driving Two Stepper Motors at The Same Time

This code controls two stepper motors simultaneously using functions from the Stepper library. It defines functions to move the motors forward, backward, left, and right by calling the stepper's step function with the appropriate step values. A switch statement maps serial commands to the movement functions, and a "lastCall" variable allows continuous movement if no new serial input is received.

Uploaded by

Mohammed Al Hosini
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
246 views3 pages

Driving Two Stepper Motors at The Same Time

This code controls two stepper motors simultaneously using functions from the Stepper library. It defines functions to move the motors forward, backward, left, and right by calling the stepper's step function with the appropriate step values. A switch statement maps serial commands to the movement functions, and a "lastCall" variable allows continuous movement if no new serial input is received.

Uploaded by

Mohammed Al Hosini
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
You are on page 1/ 3

/*

* Code to control two stepper motors simultaneously using the stepper library
function calls
* This code has functions which make calls to initiate one step from each of the
two motors at a time
* therefore each motor takes it in turn to step with the end result of them both
running together
* the variable 'lastCall' allows for a continuous input to keep the steppers
running if there is no serial input
* Written by Seven Vinton - March 2016 - available and free to use and distribute
in the public domain.
*/
#include <Stepper.h>

//definitions for each command to be recieved via serial port


#define COMMAND_LEFT 'a'
#define COMMAND_RIGHT 'd'
#define COMMAND_FORWARD 'w'
#define COMMAND_BACK 's'
#define COMMAND_STOP ' '

//enter the steps per rev for your motors here


int stepsInRev = 200;

//this sets the value for the for loops and therefore sets the amount of steps in
each call
int num_of_steps = 1;
// setup pins for each driver motor1 ~ IN1, IN2, IN3, IN4; motor2 ~ IN1, IN2, IN3,
IN4
Stepper myStepper1(stepsInRev, 4, 5, 6, 7);
Stepper myStepper2(stepsInRev, 8, 9, 10, 11);
// variable to store the last call to the serial port
char lastCall = ' ';

//I had prototyped all of the functions here, but for some reason the Arduino IDE
didn't like it
//so they are coded out until I an figure out why
//void forwardStep();
//void backwardStep();
//void leftStep();
//void rightStep();
//void allStop();

//to move the motors forward


void forwardStep(int steps){
Serial.println("forward");
// step one step each forward
myStepper1.step(1);
myStepper2.step(1);
delay(10);
}

// to move the motors back


void backwardStep(int steps){
Serial.println("backward");
// step one step each backward
myStepper1.step(-1);
myStepper2.step(-1);
delay(10);
}

// to move the motors in opposite directions (left)


void leftStep(int steps){
Serial.println("left");
// step one step each left
myStepper1.step(1);
myStepper2.step(-1);
delay(10);
}

// to move the motors in opposite directions (right)


void rightStep(int steps){
Serial.println("right");
// step one step each right
myStepper1.step(-1);
myStepper2.step(1);
delay(10);
}

// to power down the motor drivers and stop the motors


void allStop(){
Serial.println("stop");
// steppers stop
PORTD = B00000000; //sets all of the pins 0 to 7 as LOW to power off stepper1
PORTB = B00000000; //sets all of the pins 8 to 13 as LOW to power off stepper2
}
void setup() {
Serial.begin(9600);//start the bluetooth serial port - send and recieve at 9600
baud
// set the speed at 60 rpm:
myStepper1.setSpeed(60);
myStepper2.setSpeed(60);
}

void loop() {
//check to see if there is serial communication and if so read the data
if(Serial.available()) {
char data = (char)Serial.read();
// switch to set the char via serial to a command
switch(data) {
case COMMAND_FORWARD:
forwardStep(num_of_steps);
break;
case COMMAND_BACK:
backwardStep(num_of_steps);
break;
case COMMAND_LEFT:
leftStep(num_of_steps);
break;
case COMMAND_RIGHT:
rightStep(num_of_steps);
break;
case COMMAND_STOP:
allStop();
break;
}
// set the 'lastCall' variable to the last call from the serial
lastCall = data;
}
else{
char data = lastCall;
switch(data) {
case COMMAND_FORWARD:
forwardStep(num_of_steps);
break;
case COMMAND_BACK:
backwardStep(num_of_steps);
break;
case COMMAND_LEFT:
leftStep(num_of_steps);
break;
case COMMAND_RIGHT:
rightStep(num_of_steps);
break;
case COMMAND_STOP:
allStop();
break;
}
lastCall = data;
}
}

You might also like