From 1ca06ae8879ae698196145e9693db8eda85356f2 Mon Sep 17 00:00:00 2001
From: cs131110 <cs131110@uniwa.gr>
Date: Wed, 11 Dec 2019 20:55:17 +0200
Subject: [PATCH] update

---
 stepMotor/step_motor.ino | 78 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 78 insertions(+)
 create mode 100644 stepMotor/step_motor.ino

diff --git a/stepMotor/step_motor.ino b/stepMotor/step_motor.ino
new file mode 100644
index 0000000..30f40d5
--- /dev/null
+++ b/stepMotor/step_motor.ino
@@ -0,0 +1,78 @@
+
+/*
+  Stepper Motor Demonstration 1
+  Stepper-Demo1.ino
+  Demonstrates 28BYJ-48 Unipolar Stepper with ULN2003 Driver
+  Uses Arduino Stepper Library
+ 
+  DroneBot Workshop 2018
+  https://dronebotworkshop.com
+*/
+ 
+//Include the Arduino Stepper Library
+#include <Stepper.h>
+ 
+// Define Constants
+ 
+// Number of steps per internal motor revolution 
+const float STEPS_PER_REV = 32; 
+ 
+//  Amount of Gear Reduction
+const float GEAR_RED = 64;
+ 
+// Number of steps per geared output rotation
+const float STEPS_PER_OUT_REV = STEPS_PER_REV * GEAR_RED;
+ 
+// Define Variables
+ 
+// Number of Steps Required
+
+const int stepper_motor_speed = 700;
+int pos = 1;
+const int StepsRequired  =  STEPS_PER_OUT_REV / 4;
+// Create Instance of Stepper Class
+// Specify Pins used for motor coils
+// The pins used are 8,9,10,11 
+// Connected to ULN2003 Motor Driver In1, In2, In3, In4 
+// Pins entered in sequence 1-3-2-4 for proper step sequencing
+ 
+Stepper steppermotor(STEPS_PER_REV, 6, 10, 11, 13);
+ 
+void setup()
+{
+// Nothing  (Stepper Library sets pins as outputs)
+}
+void next_step()
+{
+  if(pos == 1)
+  {
+    steppermotor.setSpeed(stepper_motor_speed);
+    steppermotor.step(StepsRequired);
+    pos = 2;
+  }
+  else if(pos ==2)
+  {
+    steppermotor.setSpeed(stepper_motor_speed);
+    steppermotor.step(-1*StepsRequired);
+    pos = 3;
+  }
+  else if(pos == 3)
+  {
+    steppermotor.setSpeed(stepper_motor_speed);
+    steppermotor.step(-1*StepsRequired);
+    pos = 4;
+  }
+  else if(pos == 4)
+  {
+    steppermotor.setSpeed(stepper_motor_speed);
+    steppermotor.step(StepsRequired);
+    pos = 1;
+  }
+}
+void loop()
+{
+  
+  next_step();
+  delay(1000);
+ 
+}