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Stepper Motor With A4988 and Arduino Tutorial (4 Examples)

This document provides a tutorial on how to control a stepper motor using an A4988 driver and Arduino board. It includes 4 examples of controlling the stepper motor at different levels, from basic single step operation to more advanced microstepping. The tutorial explains how to connect the components, set the current limit on the driver, and provides Arduino code examples for each level of control.

Uploaded by

tor unlar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
347 views

Stepper Motor With A4988 and Arduino Tutorial (4 Examples)

This document provides a tutorial on how to control a stepper motor using an A4988 driver and Arduino board. It includes 4 examples of controlling the stepper motor at different levels, from basic single step operation to more advanced microstepping. The tutorial explains how to connect the components, set the current limit on the driver, and provides Arduino code examples for each level of control.

Uploaded by

tor unlar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Stepper Motor with A4988 and Arduino Tutorial (4 Examples) https://www.makerguides.com/a4988-stepper-motor-driver-ardu...

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3 of 40 2/18/2020, 10:21 PM
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4 of 40 2/18/2020, 10:21 PM
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5 of 40 2/18/2020, 10:21 PM
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(https://www.makerguides.com/wp-content/uploads/2019/02/A4988-Datasheet.pdf)

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6 of 40 2/18/2020, 10:21 PM
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7 of 40 2/18/2020, 10:21 PM
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Required connections to set the current limit

Downloads Motor Nameplate Inf… Ω Ste…


How To Control In-Depth Control Ste… Ωwith …
Stepper Motor 100% Clear

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1. /*Example sketch to control a stepper motor with A4988 stepper motor


driver and Arduino without a library. More info:
https://www.makerguides.com */
2.
3. // Define stepper motor connections and steps per revolution:
4. #define dirPin 2
5. #define stepPin 3
6. #define stepsPerRevolution 200
7.
8. void setup() {
9. // Declare pins as output:
10. pinMode(stepPin, OUTPUT);
11. pinMode(dirPin, OUTPUT);
12. }
13.
14. void loop() {
15. // Set the spinning direction clockwise:
16. digitalWrite(dirPin, HIGH);
17.
18. // Spin the stepper motor 1 revolution slowly:
19. for (int i = 0; i < stepsPerRevolution; i++) {
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20. // These four lines result in 1 step:


21. digitalWrite(stepPin, HIGH);
22. delayMicroseconds(2000);
23. digitalWrite(stepPin, LOW);
24. delayMicroseconds(2000);
25. }
26.
27. delay(1000);
28.
29. // Set the spinning direction counterclockwise:
30. digitalWrite(dirPin, LOW);
31.
32. // Spin the stepper motor 1 revolution quickly:
33. for (int i = 0; i < stepsPerRevolution; i++) {
34. // These four lines result in 1 step:
35. digitalWrite(stepPin, HIGH);
36. delayMicroseconds(1000);
37. digitalWrite(stepPin, LOW);
38. delayMicroseconds(1000);
39. }
40.
41. delay(1000);
42.
43. // Set the spinning direction clockwise:
44. digitalWrite(dirPin, HIGH);
45.
46. // Spin the stepper motor 5 revolutions fast:
47. for (int i = 0; i < 5 * stepsPerRevolution; i++) {
48. // These four lines result in 1 step:
49. digitalWrite(stepPin, HIGH);
50. delayMicroseconds(500);
51. digitalWrite(stepPin, LOW);
52. delayMicroseconds(500);
53. }
54.
55. delay(1000);
56.
57. // Set the spinning direction counterclockwise:
58. digitalWrite(dirPin, LOW);
59.
60. //Spin the stepper motor 5 revolutions fast:
61. for (int i = 0; i < 5 * stepsPerRevolution; i++) {
62. // These four lines result in 1 step:
63. digitalWrite(stepPin, HIGH);
64.
Downloads delayMicroseconds(500);
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65. digitalWrite(stepPin, LOW);


66. delayMicroseconds(500);
67. }
68.
69. delay(1000);
70. }

#define

dirPin

stepsPerRevolution

3. // Define stepper motor connections and steps per revolution:


4. #define dirPin 2
5. #define stepPin 3
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6. #define stepsPerRevolution 200

setup()
pinMode()

8. void setup() {
9. // Declare pins as output:
10. pinMode(stepPin, OUTPUT);
11. pinMode(dirPin, OUTPUT);
12. }

loop()

15. // Set the spinning direction clockwise:


16. digitalWrite(dirPin, HIGH);
17.
18. // Spin the stepper motor 1 revolution slowly:
19. for(int i = 0; i < stepsPerRevolution; i++)
20. {
21. // These four lines result in 1 step:
22. digitalWrite(stepPin, HIGH);
23. delayMicroseconds(2000);
24. digitalWrite(stepPin, LOW);
25. delayMicroseconds(2000);
26. }

digitalWrite()

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for(int i = 0; i < 100; i++)

delayMicroseconds()

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Stepper Motor with A4988 and Arduino Tutorial (4 Examples) https://www.makerguides.com/a4988-stepper-motor-driver-ardu...

(https://www.makerguides.com/wp-content/uploads/2019/02/AccelStepper-1.59.zip)

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1. /*Example sketch to control a stepper motor with A4988 stepper motor


driver, AccelStepper library and Arduino: continuous rotation. More info:
https://www.makerguides.com */
2.
3. // Include the AccelStepper library:
4. #include <AccelStepper.h>
5.
6. // Define stepper motor connections and motor interface type. Motor
interface type must be set to 1 when using a driver:
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7. #define dirPin 2
8. #define stepPin 3
9. #define motorInterfaceType 1
10.
11. // Create a new instance of the AccelStepper class:
12. AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
13.
14. void setup() {
15. // Set the maximum speed in steps per second:
16. stepper.setMaxSpeed(1000);
17. }
18.
19. void loop() {
20. // Set the speed in steps per second:
21. stepper.setSpeed(400);
22. // Step the motor with a constant speed as set by setSpeed():
23. stepper.runSpeed();
24. }

#include <AccelStepper.h>

3. // Include the AccelStepper library:


4. #include <AccelStepper.h>

#define

dirPin

6. // Define stepper motor connections and motor interface type. Motor


Downloads interface type
Motor Nameplate mustHow
Inf… beToset toSte…
Control 1 whenIn-Depth
using a driver:
Control Ste… Stepper Motor with … 100% Clear

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7. #define dirPin 2
8. #define stepPin 3
9. #define motorInterfaceType 1

AccelStepper liftmotor =
AccelStepper(motorInterfaceType, stepPin, dirPin);

11. // Create a new instance of the AccelStepper class:


12. AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

setup()

14. void setup() {


15. // Set the maximum speed in steps per second:
16. stepper.setMaxSpeed(1000);
17. stepper2.setMaxSpeed(500);
18. }

loop()
setSpeed()

stepper.runSpeed()

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stepper.setSpeed(-400);

19. void loop() {


20. // Set the speed in steps per second:
21. stepper.setSpeed(400);
22. // Step the motor with a constant speed as set by setSpeed():
23. stepper.runSpeed();
24. }

stepper.currentPosition()

1. /*Example sketch to control a stepper motor with A4988 stepper motor


driver, AccelStepper library and Arduino: number of steps or revolutions.
More info: https://www.makerguides.com */
2.
3. // Include the AccelStepper library:
4. #include <AccelStepper.h>
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5.
6. // Define stepper motor connections and motor interface type. Motor
interface type must be set to 1 when using a driver:
7. #define dirPin 2
8. #define stepPin 3
9. #define motorInterfaceType 1
10.
11. // Create a new instance of the AccelStepper class:
12. AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);
13.
14. void setup() {
15. // Set the maximum speed in steps per second:
16. stepper.setMaxSpeed(1000);
17. }
18.
19. void loop() {
20. // Set the current position to 0:
21. stepper.setCurrentPosition(0);
22.
23. // Run the motor forward at 200 steps/second until the motor reaches
400 steps (2 revolutions):
24. while(stepper.currentPosition() != 400)
25. {
26. stepper.setSpeed(200);
27. stepper.runSpeed();
28. }
29.
30. delay(1000);
31.
32. // Reset the position to 0:
33. stepper.setCurrentPosition(0);
34.
35. // Run the motor backwards at 600 steps/second until the motor reaches
-200 steps (1 revolution):
36. while(stepper.currentPosition() != -200)
37. {
38. stepper.setSpeed(-600);
39. stepper.runSpeed();
40. }
41.
42. delay(1000);
43.
44. // Reset the position to 0:
45. stepper.setCurrentPosition(0);
46.
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47. // Run the motor forward at 400 steps/second until the motor reaches
600 steps (3 revolutions):
48. while(stepper.currentPosition() != 600)
49. {
50. stepper.setSpeed(400);
51. stepper.runSpeed();
52. }
53.
54. delay(3000);
55. }

currentPosition()

stepper.setCurrentPosition(0)

20. // Set the current position to 0:


21. stepper.setCurrentPosition(0);

setSpeed()

22. // Run the motor forward at 200 steps/second until the motor reaches
400 steps (2 revolutions):
23. while(stepper.currentPosition() != 400)
24. {
25. stepper.setSpeed(200);
26. stepper.runSpeed();
27. }

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1. /*Example sketch to control a stepper motor with A4988 stepper motor


driver, AccelStepper library and Arduino: acceleration and deceleration.
More info: https://www.makerguides.com */
2.
3. // Include the AccelStepper library:
4. #include <AccelStepper.h>
5.
6. // Define stepper motor connections and motor interface type. Motor
interface type must be set to 1 when using a driver:
7. #define dirPin 2
8. #define stepPin 3
9. #define motorInterfaceType 1
10.
11.
Downloads
// Motor
Create a new instance
Nameplate Inf…
of the AccelStepper
How To Control Ste…
class:
In-Depth Control Ste… Stepper Motor with … 100% Clear

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12. AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);


13.
14. void setup() {
15. // Set the maximum speed and acceleration:
16. stepper.setMaxSpeed(200);
17. stepper.setAcceleration(30);
18. }
19.
20. void loop() {
21. // Set the target position:
22. stepper.moveTo(600);
23. // Run to target position with set speed and acceleration/deceleration:
24. stepper.runToPosition();
25.
26. delay(1000);
27.
28. // Move back to zero:
29. stepper.moveTo(0);
30. stepper.runToPosition();
31.
32. delay(1000);
33. }

setAcceleration()
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14. void setup() {


15. // Set the maximum speed and acceleration:
16. stepper.setMaxSpeed(200);
17. stepper.setAcceleration(30);
18. }

stepper.moveTo()
stepper.runToPostion()

21. // Set the target position:


22. stepper.moveTo(600);
23. // Run to target position with set speed and acceleration/deceleration:
24. stepper.runToPosition();

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