• View
• Edit
• History
• Print

MotorShieldSteppers

//----------------
//Stepper 1 gets hooked up to motor ports 1 and 2 on the shield
//stepper 2 hooks up to 3 and 4
//INTERLEAVE and SINGLE seem to work with printer steppers 
#include <AFMotor.h>

// Connect a stepper motor with 48 steps per revolution (7.5 degree)
// to motor port #2 (M3 and M4)
AF_Stepper motor1(48, 1);
AF_Stepper motor2(48, 2);
int i;
int s=255;

void setup() {
  Serial.begin(9600);           // set up Serial library at 9600 bps
  Serial.println("Stepper test!");

  motor1.setSpeed(200); 
  motor2.setSpeed(200);  
}

void loop() {
  for (i=0;i<s;i++){
  Serial.println("Single coil steps");
  motor1.step(1, FORWARD, INTERLEAVE);//INTERLEAVE seems to result in more torque, 1/2 speed.
 motor2.step(1, FORWARD, INTERLEAVE); } 

  /*motor1.step(100, BACKWARD, SINGLE); 

  Serial.println("Double coil steps");
  motor1.step(100, FORWARD, DOUBLE); 
  motor1.step(100, BACKWARD, DOUBLE);

  Serial.println("Interleave coil steps");
  motor1.step(100, FORWARD, INTERLEAVE); 
  motor1.step(100, BACKWARD, INTERLEAVE); 

  Serial.println("Micrsostep steps");
  motor1.step(100, FORWARD, MICROSTEP); //very low torque
  motor1.step(100, BACKWARD, MICROSTEP); */
}