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firmware/lib/CheapStepper-master/CheapStepper.cpp

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+/*  CheapStepper.cpp - 
+	v0.2
+	Library for the 28BYJ-48 stepper motor, using ULN2003 driver board
+	https://arduino-info.wikispaces.com/SmallSteppers
+
+	Library written by Tyler Henry, 6/2016
+
+	uses 8-step sequence: A-AB-B-BC-C-CD-D-DA
+
+	motor has gear ratio of either:
+		64:1 (per manufacturer specs)
+		or 
+		63.68395:1 measured
+			(see: http://forum.arduino.cc/index.php?topic=71964.15)
+	* 64 steps per internal motor rev
+	= 
+
+	4096 total mini-steps / revolution
+	or ~4076 (4075.7728) depending on exact gear ratio
+
+	assumes 5v power source for rpm calc
+*/
+
+
+#include "Arduino.h"
+#include "CheapStepper.h"
+
+
+CheapStepper::CheapStepper () {
+	for (int pin=0; pin<4; pin++){
+		pinMode(pins[pin], OUTPUT);
+	}
+}
+
+CheapStepper::CheapStepper (int in1, int in2, int in3, int in4) {
+
+	pins[0] = in1;
+	pins[1] = in2;
+	pins[2] = in3;
+	pins[3] = in4;
+	CheapStepper();
+}
+
+void CheapStepper::setRpm (int rpm){
+
+	delay = calcDelay(rpm);
+}
+
+void CheapStepper::move (bool clockwise, int numSteps){
+
+	for (int n=0; n<numSteps; n++){
+		step(clockwise);
+	}
+}
+
+void CheapStepper::moveTo (bool clockwise, int toStep){
+
+	// keep to 0-(totalSteps-1) range
+	if (toStep >= totalSteps) toStep %= totalSteps;
+	else if (toStep < 0) {
+		toStep %= totalSteps; // returns negative if toStep not multiple of totalSteps
+		if (toStep < 0) toStep += totalSteps; // shift into 0-(totalSteps-1) range
+	}
+	while (stepN != toStep){
+		step(clockwise);
+	}
+}
+
+void CheapStepper::moveDegrees (bool clockwise, int deg){
+
+	int nSteps = (unsigned long) deg * totalSteps / 360;
+	move(clockwise, nSteps);
+}
+
+void CheapStepper::moveToDegree (bool clockwise, int deg){
+
+	// keep to 0-359 range
+	if (deg >= 360) deg %= 360;
+	else if (deg < 0) {
+		deg %= 360; // returns negative if deg not multiple of 360
+		if (deg < 0) deg += 360; // shift into 0-359 range
+	}
+
+	int toStep = deg * totalSteps / 360;
+	moveTo (clockwise, toStep);
+}
+
+
+// NON-BLOCKING MOVES
+
+void CheapStepper::newMove (bool clockwise, int numSteps){
+
+	// numSteps sign ignored
+	// stepsLeft signed positive if clockwise, neg if ccw
+
+	if (clockwise) stepsLeft = abs(numSteps);
+	else stepsLeft = -1 * abs(numSteps);
+
+	lastStepTime = micros();
+}
+
+void CheapStepper::newMoveTo (bool clockwise, int toStep){
+
+	// keep toStep in 0-(totalSteps-1) range
+	if (toStep >= totalSteps) toStep %= totalSteps;
+	else if (toStep < 0) {
+		toStep %= totalSteps; // returns negative if toStep not multiple of totalSteps
+		if (toStep < 0) toStep += totalSteps; // shift into 0-(totalSteps-1) range
+	}
+
+	if (clockwise) stepsLeft = abs(toStep - stepN);
+	// clockwise: simple diff, always pos
+	else stepsLeft = -1*(totalSteps - abs(toStep - stepN));
+	// counter-clockwise: totalSteps - diff, made neg
+
+	lastStepTime = micros();
+}
+
+void CheapStepper::newMoveDegrees (bool clockwise, int deg){
+
+	int nSteps = (unsigned long) deg * totalSteps / 360;
+	newMove (clockwise, nSteps);
+}
+
+void CheapStepper::newMoveToDegree (bool clockwise, int deg){
+
+	// keep to 0-359 range
+	if (deg >= 360) deg %= 360;
+	else if (deg < 0) {
+		deg %= 360; // returns negative if deg not multiple of 360
+		if (deg < 0) deg += 360; // shift into 0-359 range
+	}
+
+	int toStep = deg * totalSteps / 360;
+	newMoveTo (clockwise, toStep);
+}
+
+void CheapStepper::run(){
+
+	if (micros() - lastStepTime >= delay) { // if time for step
+		if (stepsLeft > 0) { // clockwise
+			stepCW();
+			stepsLeft--;
+		} else if (stepsLeft < 0){ // counter-clockwise
+			stepCCW();
+			stepsLeft++;
+		} 
+
+		lastStepTime = micros();
+	}
+}
+
+void CheapStepper::stop(){
+
+	stepsLeft = 0;
+}
+
+
+void CheapStepper::step(bool clockwise){
+
+	if (clockwise) seqCW();
+	else seqCCW();
+}
+
+
+/////////////
+// PRIVATE //
+/////////////
+
+int CheapStepper::calcDelay (int rpm){
+
+	if (rpm < 6) return delay; // will overheat, no change
+	else if (rpm >= 24) return 600; // highest speed
+
+	unsigned long d = 60000000 / (totalSteps* (unsigned long) rpm);
+	// in range: 600-1465 microseconds (24-1 rpm)
+	return (int) d;
+
+}
+
+int CheapStepper::calcRpm (int _delay){
+
+	unsigned long rpm = 60000000 / (unsigned long) _delay / totalSteps;
+	return (int) rpm;
+	
+}
+
+void CheapStepper::seqCW (){
+	seqN++;
+	if (seqN > 7) seqN = 0; // roll over to A seq
+	seq(seqN);
+
+	stepN++; // track miniSteps
+	if (stepN >= totalSteps){
+		stepN -=totalSteps; // keep stepN within 0-(totalSteps-1)
+	}
+}
+
+void CheapStepper::seqCCW (){
+	seqN--;
+	if (seqN < 0) seqN = 7; // roll over to DA seq
+	seq(seqN);
+
+	stepN--; // track miniSteps
+	if (stepN < 0){
+		stepN +=totalSteps; // keep stepN within 0-(totalSteps-1)
+	}
+}
+
+void CheapStepper::seq (int seqNum){
+
+	int pattern[4];
+	// A,B,C,D HIGH/LOW pattern to write to driver board
+	
+	switch(seqNum){
+		case 0:
+		{
+			pattern[0] = 1;
+			pattern[1] = 0;
+			pattern[2] = 0;
+			pattern[3] = 0;
+			break;
+		}
+		case 1:
+		{
+			pattern[0] = 1;
+			pattern[1] = 1;
+			pattern[2] = 0;
+			pattern[3] = 0;
+			break;
+		}
+		case 2:
+		{
+			pattern[0] = 0;
+			pattern[1] = 1;
+			pattern[2] = 0;
+			pattern[3] = 0;
+			break;
+		}
+		case 3:
+		{
+			pattern[0] = 0;
+			pattern[1] = 1;
+			pattern[2] = 1;
+			pattern[3] = 0;
+			break;
+		}	
+		case 4:
+		{
+			pattern[0] = 0;
+			pattern[1] = 0;
+			pattern[2] = 1;
+			pattern[3] = 0;
+			break;
+		}
+		case 5:
+		{
+			pattern[0] = 0;
+			pattern[1] = 0;
+			pattern[2] = 1;
+			pattern[3] = 1;
+			break;
+		}
+		case 6:
+		{
+			pattern[0] = 0;
+			pattern[1] = 0;
+			pattern[2] = 0;
+			pattern[3] = 1;
+			break;
+		}
+		case 7:
+		{
+			pattern[0] = 1;
+			pattern[1] = 0;
+			pattern[2] = 0;
+			pattern[3] = 1;
+			break;
+		}
+		default:
+		{
+			pattern[0] = 0;
+			pattern[1] = 0;
+			pattern[2] = 0;
+			pattern[3] = 0;
+			break;
+		}
+	}
+
+	// write pattern to pins
+	for (int p=0; p<4; p++){
+		digitalWrite(pins[p], pattern[p]);
+	}
+	delayMicroseconds(delay);
+}
+
+

firmware/lib/CheapStepper-master/CheapStepper.h

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+/*  CheapStepper.h - 
+	v0.2
+	Library for the 28BYJ-48 stepper motor, using ULN2003 driver board
+	https://arduino-info.wikispaces.com/SmallSteppers
+
+	Library written by Tyler Henry, 6/2016
+
+	uses 8-step sequence: A-AB-B-BC-C-CD-D-DA
+
+	motor has gear ratio of either:
+		64:1 (per manufacturer specs)
+		or 
+		63.68395:1 measured
+			(see: http://forum.arduino.cc/index.php?topic=71964.15)
+	* 64 steps per internal motor rev
+	= 
+
+	4096 total mini-steps / revolution
+	or ~4076 (4075.7728) depending on exact gear ratio
+
+	assumes 5v power source for rpm calc
+*/
+
+#ifndef CHEAPSTEPPER_H
+#define CHEAPSTEPPER_H
+
+#include "Arduino.h"
+
+class CheapStepper
+{
+
+public: 
+	CheapStepper();
+	CheapStepper (int in1, int in2, int in3, int in4);
+
+	void setRpm (int rpm); // sets speed (10-24 rpm, hi-low torque)
+	// <6 rpm blocked in code, may overheat
+	// 23-24rpm may skip
+
+	void set4076StepMode() { totalSteps = 4076; }
+	void setTotalSteps (int numSteps) { totalSteps = numSteps; }
+	// allows custom # of steps (usually 4076)
+
+	// blocking! (pauses arduino until move is done)
+	void move (bool clockwise, int numSteps); // 4096 steps = 1 revolution
+	void moveTo (bool clockwise, int toStep); // move to specific step position
+	void moveDegrees (bool clockwise, int deg);
+	void moveToDegree (bool clockwise, int deg);
+
+	void moveCW (int numSteps) { move (true, numSteps); }
+	void moveCCW (int numSteps) { move (false, numSteps); }
+	void moveToCW (int toStep) { moveTo (true, toStep); }
+	void moveToCCW (int toStep) { moveTo (false, toStep); }
+	void moveDegreesCW (int deg) { moveDegrees (true, deg); }
+	void moveDegreesCCW (int deg) { moveDegrees (false, deg); }
+	void moveToDegreeCW (int deg) { moveToDegree (true, deg); }
+	void moveToDegreeCCW (int deg) { moveToDegree (false, deg); }
+
+
+	// non-blocking versions of move()
+	// call run() in loop to keep moving
+
+	void newMove (bool clockwise, int numSteps);
+	void newMoveTo (bool clockwise, int toStep);
+	void newMoveDegrees (bool clockwise, int deg);
+	void newMoveToDegree (bool clockwise, int deg);
+
+	void run();
+	void stop();
+
+	void newMoveCW(int numSteps) { newMove(true, numSteps); }
+	void newMoveCCW(int numSteps) { newMove(false, numSteps); }
+	void newMoveToCW(int toStep) { newMoveTo(true, toStep); }
+	void newMoveToCCW(int toStep) { newMoveTo(false, toStep); }
+	void newMoveDegreesCW(int deg) { newMoveDegrees(true, deg); }
+	void newMoveDegreesCCW(int deg) { newMoveDegrees(false, deg); }
+	void newMoveToDegreeCW(int deg) { newMoveToDegree(true, deg); }
+	void newMoveToDegreeCCW(int deg) { newMoveToDegree(false, deg); }
+
+
+
+	void step (bool clockwise);
+	// move 1 step clockwise or counter-clockwise
+
+	void stepCW () { step (true); } // move 1 step clockwise
+	void stepCCW () { step (false); } // move 1 step counter-clockwise
+
+	int getStep() { return stepN; } // returns current miniStep position
+	int getDelay() { return delay; } // returns current delay (microseconds)
+	int getRpm() { return calcRpm(); } // returns current rpm
+	int getPin(int p) { 
+		if (p<4) return pins[p]; // returns pin #
+		return 0; // default 0
+	}
+	int getStepsLeft() { return stepsLeft; } // returns steps left in current move
+
+private:
+
+	int calcDelay(int rpm); // calcs microsecond step delay for given rpm
+	int calcRpm(int _delay); // calcs rpm for given delay in microseconds
+	int calcRpm(){
+		return calcRpm(delay); // calcs rpm from current delay
+	}
+
+	void seqCW();
+	void seqCCW();
+	void seq(int seqNum); // send specific sequence num to driver
+
+	int pins[4] = {8,9,10,11}; // in1, in2, in3, in4
+
+	int stepN = 0; // keeps track of step position
+	// 0-4095 (4096 mini-steps / revolution) or maybe 4076...
+	int totalSteps = 4096;
+
+	int delay = 900; // microsecond delay between steps
+	// 900 ~= 16.25 rpm
+	// low speed (high torque) = 1465 ~= 1 rpm
+	// high speed (low torque) = 600 ~=  24 rpm
+
+	int seqN = -1; // keeps track of sequence number
+
+	// variables for non-blocking moves:
+	unsigned long lastStepTime; // time in microseconds that last step happened
+	int stepsLeft = 0; // steps left to move, neg for counter-clockwise
+
+};
+
+#endif

firmware/lib/CheapStepper-master/README.md

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+# CheapStepper v0.2 #
+## An Arduino library for the 28BYJ-48 stepper motor  using ULN2003 driver board ##
+
+#### created by Tyler Henry, 6/2016 ####
+
+
+You can read some more info on the cheap yet worthy 28BYJ-48 stepper motor [here](https://arduino-info.wikispaces.com/SmallSteppers).
+
+## Wiring example
+
+<img src="https://github.com/tyhenry/CheapStepper/blob/master/extras/connections.png?raw=true" width="400">
+
+## Library Info
+
+### Half-stepping
+CheapStepper uses an 8 mini-step sequence to perform all moves  
+([a.k.a half-stepping](https://www.youtube.com/watch?v=B86nqDRskVU&feature=youtu.be&t=11m0s)): A-AB-B-BC-C-CD-D-DA
+
+### Gear Ratio
+Depending on whom you ask, the 28BYJ-48 motor has an internal gear ratio of either:  
+
+- 64:1 (per manufacturer specs)  or  
+- 63.68395:1 (measured... see this [Arduino Forum topic](http://forum.arduino.cc/index.php?topic=71964.15) for more info)
+
+### Total Steps
+
+64:1 gear ratio **\*** 64 steps (1 step = 8 mini-steps) per internal motor revolution =  
+4096 total mini-steps / revolution  
+or ~4076 (4075.7728) if the gear ratio is 63.68395:1  
+  
+CheapStepper library defaults to 4096 mini-steps but you can call:  
+`CheapStepper::set4076StepMode()` to use 4076 steps
+or `CheapStepper::setTotalSteps(int numSteps)` to use a custom amount
+
+
+### Power
+CheapStepper assumes a 5v power source for RPM calculations.  
+It's best to use an external power supply like [this](https://www.adafruit.com/products/276), wired directly to the ULN2003 driver board, rather than draw from the Arduino's onboard power, which may have insufficient amperage (>100mA needed).
+
+----
+## Blocking Moves
+_The Arduino sketch "pauses" during move()_
+
+- move (boolean clockwise, int numSteps);
+- moveTo (boolean clockwise, int toStep);
+- moveDegrees (boolean clockwise, int degrees);
+- moveToDegree (boolean clockwise, int toDegree);
+
+----
+## Non-blocking Moves 
+_The Arduino sketch will continue running during the move.  
+You must call run() on your stepper during loop()_  
+
+- newMove (boolean clockwise, int numSteps);
+- newMoveTo (boolean clockwise, int toStep);
+- newMoveDegrees (boolean clockwise, int degrees);  
+- newMoveToDegree (boolean clockwise, int toDegree);  
+
+### Note
+* must call run() during loop to continue move
+* call stop() to cancel/end move
+
+----
+### Move a Single Mini-Step<br/>(1/8 of 8 Step Sequence)
+
+- step (boolean clockwise);
+- or stepCW(); or stepCCW();
+
+----
+#### All move functions have ...CW() or ...CCW() variants:  
+e.g.  
+ 
+- move 8 steps clockwise:  
+  `move (true, 8);`  is the same as   
+  `moveCW (8);` 
+- create new move of 90 degrees counter-clockwise  
+  `newMoveDegrees (false, 90);`  is the same as  
+  `newMoveDegreesCCW (90);`

firmware/lib/CheapStepper-master/examples/cheapStepper_move/cheapStepper_move.ino

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+/*
+ * cheapStepper_move.ino
+ * ///////////////////////////////////////////
+ * using CheapStepper Arduino library v.0.2.0
+ * created by Tyler Henry, 7/2016
+ * ///////////////////////////////////////////
+ * 
+ * This sketch illustrates the library's
+ * "blocking" move functions -
+ * i.e. the move will "pause" the arduino sketch
+ * -- for non-blocking moves, see cheapStepper_newMoveTo.ino example
+ * 
+ * This sketch also shows how to set the RPM
+ * and shows a few different types of move functions
+ * - by steps or by degrees.
+ * 
+ * Blocking moves are useful if you need a specific RPM
+ * but don't need your arduino to perform other functions
+ * while the stepper is moving.
+ * 
+ * //////////////////////////////////////////////////////
+ */
+
+// first, include the library :)
+
+#include <CheapStepper.h>
+
+// next, declare the stepper
+// and connect pins 8,9,10,11 to IN1,IN2,IN3,IN4 on ULN2003 board
+
+CheapStepper stepper (8,9,10,11); 
+
+ // let's create a boolean variable to save the direction of our rotation
+
+boolean moveClockwise = true;
+
+
+void setup() {
+
+  // let's set a custom speed of 20rpm (the default is ~16.25rpm)
+  
+  stepper.setRpm(20); 
+  /* Note: CheapStepper library assumes you are powering your 28BYJ-48 stepper
+   * using an external 5V power supply (>100mA) for RPM calculations
+   * -- don't try to power the stepper directly from the Arduino
+   * 
+   * accepted RPM range: 6RPM (may overheat) - 24RPM (may skip)
+   * ideal range: 10RPM (safe, high torque) - 22RPM (fast, low torque)
+   */
+
+  // now let's set up a serial connection and print some stepper info to the console
+  
+  Serial.begin(9600); Serial.println();
+  Serial.print(stepper.getRpm()); // get the RPM of the stepper
+  Serial.print(" rpm = delay of ");
+  Serial.print(stepper.getDelay()); // get delay between steps for set RPM
+  Serial.print(" microseconds between steps");
+  Serial.println();
+  
+  // stepper.setTotalSteps(4076);
+  /* you can uncomment the above line if you think your motor
+   * is geared 63.68395:1 (measured) rather than 64:1 (advertised)
+   * which would make the total steps 4076 (rather than default 4096)
+   * for more info see: http://forum.arduino.cc/index.php?topic=71964.15
+   */
+}
+
+void loop() {
+
+    // let's do a clockwise move first
+  
+    moveClockwise = true;
+
+    // let's move the stepper clockwise to position 2048
+    // which is 180 degrees, a half-turn (if using default of 4096 total steps)
+    
+    stepper.moveTo (moveClockwise, 2048);
+
+    // now let's print the stepper position to the console
+    
+    Serial.print("step position: ");  
+    Serial.print(stepper.getStep()); // get the current step position
+    Serial.print(" / 4096");
+    Serial.println();
+
+    // now let's wait one second
+    
+    delay(1000); // wait a sec
+
+    // and now let's move another 90 degrees (a quarter-turn) clockwise
+
+    stepper.moveDegrees (moveClockwise, 90);
+    // stepper.moveDegreesCW (90); <--- another way to do a clockwise 90 degree turn
+
+    // let's print the stepper position to the console again
+    
+    Serial.print("step position: ");
+    Serial.print(stepper.getStep());
+    Serial.print(" / 4096");
+    Serial.println();
+
+    // and wait another second
+    
+    delay(1000);
+
+    // ok, now let's reverse directions (to counter-clockwise)
+    
+    moveClockwise = false;
+
+    // and move back to the start position (0 degree)
+   
+    stepper.moveToDegree (moveClockwise, 0);
+    // moveClockwise is now false, so move counter-clockwise back to start
+
+    // let's print the position to the console once again
+    
+    Serial.print("step position: ");
+    Serial.print(stepper.getStep());
+    Serial.print(" / 4096");
+    Serial.println();
+
+    // and wait another second before starting loop() over
+    
+    delay(1000);  
+}
+

firmware/lib/CheapStepper-master/examples/cheapStepper_newMoveTo/cheapStepper_newMoveTo.ino

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+
+/*
+ * cheapStepper_newMoveTo.ino
+ * ///////////////////////////////////////////
+ * using CheapStepper Arduino library v.0.2.0
+ * created by Tyler Henry, 7/2016
+ * ///////////////////////////////////////////
+ * 
+ * This sketch illustrates the library's
+ * "non-blocking" move functions -
+ * i.e. you can perform moves with the stepper over time
+ * while still running other code in your loop()
+ * 
+ * This can be useful if your Arduino is multi-tasking,
+ * but be careful: if the other code in your loop()
+ * slows down your Arduino, the stepper motor may
+ * slow down or move with a stutter
+ * 
+ * //////////////////////////////////////////////////////
+ */
+
+// first, include the library :)
+
+#include <CheapStepper.h>
+
+// next, declare the stepper
+// and connect pins 8,9,10,11 to IN1,IN2,IN3,IN4 on ULN2003 board
+
+CheapStepper stepper (8,9,10,11);  
+
+
+ // let's also create a boolean variable to save the direction of our rotation
+ // and a timer variable to keep track of move times
+
+bool moveClockwise = true;
+unsigned long moveStartTime = 0; // this will save the time (millis()) when we started each new move
+
+
+void setup() {
+
+  // let's run the stepper at 12rpm (if using 5V power) - the default is ~16 rpm
+
+  stepper.setRpm(12);
+
+  // let's print out the RPM to make sure the setting worked
+  
+  Serial.begin(9600);
+  Serial.print("stepper RPM: "); Serial.print(stepper.getRpm());
+  Serial.println();
+
+  // and let's print the delay time (in microseconds) between each step
+  // the delay is based on the RPM setting:
+  // it's how long the stepper will wait before each step
+
+  Serial.print("stepper delay (micros): "); Serial.print(stepper.getDelay());
+  Serial.println(); Serial.println();
+
+  // now let's set up our first move...
+  // let's move a half rotation from the start point
+
+  stepper.newMoveTo(moveClockwise, 2048);
+  /* this is the same as: 
+   * stepper.newMoveToDegree(clockwise, 180);
+   * because there are 4096 (default) steps in a full rotation
+   */
+  moveStartTime = millis(); // let's save the time at which we started this move
+  
+}
+
+void loop() {
+
+  // we need to call run() during loop() 
+  // in order to keep the stepper moving
+  // if we are using non-blocking moves
+  
+  stepper.run();
+
+  ////////////////////////////////
+  // now the stepper is moving, //
+  // let's do some other stuff! //
+  ////////////////////////////////
+
+  // let's check how many steps are left in the current move:
+  
+  int stepsLeft = stepper.getStepsLeft();
+
+  // if the current move is done...
+  
+  if (stepsLeft == 0){
+
+    // let's print the position of the stepper to serial
+    
+    Serial.print("stepper position: "); Serial.print(stepper.getStep());
+    Serial.println();
+
+    // and now let's print the time the move took
+
+    unsigned long timeTook = millis() - moveStartTime; // calculate time elapsed since move start
+    Serial.print("move took (ms): "); Serial.print(timeTook);
+    Serial.println(); Serial.println();
+    
+    // let's start a new move in the reverse direction
+    
+    moveClockwise = !moveClockwise; // reverse direction
+    stepper.newMoveDegrees (moveClockwise, 180); // move 180 degrees from current position
+    moveStartTime = millis(); // reset move start time
+
+  }
+
+}

firmware/lib/CheapStepper-master/examples/cheapStepper_simple/cheapStepper_simple.ino

@@ -0,0 +1,90 @@
+/*
+ * cheapStepper_simple.ino
+ * ///////////////////////////////////////////
+ * using CheapStepper Arduino library v.0.2.0
+ * created by Tyler Henry, 7/2016
+ * ///////////////////////////////////////////
+ * 
+ * this sketch illustrates basic step() functionality of the library:
+ * the stepper performs a full rotation, pauses 1 second,
+ * then does a full rotation in the other direction, and so on
+ * 
+ * //////////////////////////////////////////////////////
+ */
+
+// first, include the library :)
+
+#include <CheapStepper.h>
+
+
+CheapStepper stepper;
+// here we declare our stepper using default pins:
+// arduino pin <--> pins on ULN2003 board:
+// 8 <--> IN1
+// 9 <--> IN2
+// 10 <--> IN3
+// 11 <--> IN4
+
+ // let's create a boolean variable to save the direction of our rotation
+
+boolean moveClockwise = true;
+
+
+void setup() {
+  
+  // let's just set up a serial connection and test print to the console
+  
+  Serial.begin(9600);
+  Serial.println("Ready to start moving!");
+}
+
+void loop() {
+
+  // let's move a full rotation (4096 mini-steps)
+  // we'll go step-by-step using the step() function
+  
+  for (int s=0; s<4096; s++){
+    // this will loop 4096 times
+    // 4096 steps = full rotation using default values
+    /* Note:
+     * you could alternatively use 4076 steps... 
+     * if you think your 28BYJ-48 stepper's internal gear ratio is 63.68395:1 (measured) rather than 64:1 (advertised)
+     * for more info, see: http://forum.arduino.cc/index.php?topic=71964.15)
+     */
+
+    // let's move one "step" (of the 4096 per full rotation)
+    
+    stepper.step(moveClockwise);
+    /* the direction is based on moveClockwise boolean:
+     * true for clockwise, false for counter-clockwise
+     * -- you could also say stepper.stepCW(); or stepper.stepCCW();
+     */
+
+    // now let's get the current step position of motor
+    
+    int nStep = stepper.getStep();
+
+    // and if it's divisible by 64...
+    
+    if (nStep%64==0){ 
+
+      // let's print the position to the console
+      
+      Serial.print("current step position: "); Serial.print(nStep);
+      Serial.println();
+      
+    }
+  }
+
+  // now we've moved 4096 steps
+  
+  // let's wait one second
+  
+  delay(1000);
+
+  // and switch directions before starting loop() again
+  
+  moveClockwise = !moveClockwise;
+}
+
+

firmware/lib/CheapStepper-master/extras/fritzing parts/license.txt

@@ -0,0 +1,27 @@
+28BYJ-49 Stepper Motor.fzpz
+X113647 Stepper Driver Board.fzpz
+Fritzing parts from https://github.com/tardate/X113647Stepper
+
+Copyright (c) 2014 Paul Gallagher
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+

firmware/lib/CheapStepper-master/keywords.txt

@@ -0,0 +1,56 @@
+#######################################
+# Syntax Coloring Map For CheapStepper
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+CheapStepper	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+setRpm			KEYWORD2
+set4076StepMode	KEYWORD2
+setTotalSteps	KEYWORD2
+move			KEYWORD2
+moveTo			KEYWORD2
+moveDegrees		KEYWORD2
+moveToDegree	KEYWORD2
+moveCW			KEYWORD2
+moveCCW			KEYWORD2
+moveToCW		KEYWORD2
+moveToCCW		KEYWORD2
+moveDegreesCW	KEYWORD2
+moveDegreesCCW	KEYWORD2
+moveToDegreeCW	KEYWORD2
+moveToDegreeCCW	KEYWORD2
+newMove			KEYWORD2
+newMoveTo		KEYWORD2
+newMoveDegrees	KEYWORD2
+newMoveToDegree	KEYWORD2
+run				KEYWORD2
+stop 			KEYWORD2
+newMoveCW		KEYWORD2
+newMoveCCW		KEYWORD2
+newMoveToCW		KEYWORD2
+newMoveToCCW	KEYWORD2
+newMoveDegreesCW	KEYWORD2
+newMoveDegreesCCW	KEYWORD2
+newMoveToDegreeCW	KEYWORD2
+newMoveToDegreeCCW	KEYWORD2
+step 			KEYWORD2
+stepCW			KEYWORD2
+stepCCW			KEYWORD2
+getStep			KEYWORD2
+getDelay		KEYWORD2
+getRpm			KEYWORD2
+getPin			KEYWORD2
+getStepsLeft	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+

firmware/lib/CheapStepper-master/library.properties

@@ -0,0 +1,9 @@
+name=CheapStepper
+version=0.2
+author=Tyler Henry
+maintainer=Tyler Henry <tyler@tylerhenry.com>
+sentence=A library for the cheap but useful 28BYJ-48 5v stepper motor with ULN2003 driver board
+paragraph=Library uses half-stepping for fine control (default: 4096 mini-steps per rotation), and supports blocking and non-blocking moves. The total number of steps is also adjustable (e.g. 4076 steps for 63.68395:1 measured gear ratio).
+category=Device Control
+url=https://github.com/tyhenry/CheapStepper
+architectures=*

firmware/lib/CheapStepper-master/license.txt

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
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+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+  Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+  In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement).  To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.