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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

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+/*
+ * 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;
+}
+
+