How to Control Stepper Motors

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Biplolar Full Step (1 Phase On) from P.144 Biploar Full Step (2 Phases On) from p.152

Biplolar Half Step from p.156 Unipolar Full Step (1 Phase On) from p.161

Unipolar Full Step (2 Phases On) from p.165 Unipolar Half Step from p.169

Universal Stepper Motor Control from p.174 TB6600 Whole, Half and Microstepping from p.194

Bipolar Full Step (1 Phase On) from page 144.

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/* Bipolar Full Step 1 Phase On Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)*motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Bipolar Full Step (2 Phases On) from p.152

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/* Bipolar Full Step 2 Phases On Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)*motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Biplolar Half Step from p.156

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/* Bipolar Half Step Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)*motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Unipolar Full Step (1 Phase On) from p.161

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/* Unipolar Full Step 1 Phase On How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3;//set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)*motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Unipolar Full Step (2 Phases On) from p.165

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/* Unipolar Full Step 2 Phases On How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)*motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Unipolar Half Step from p.169

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/* Unipolar Half Step Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)*motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Universal Stepper Motor Control from p.174

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/* Universal Stepper Motor Control How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int motor,motors,st,steps_per_revolution,pulses_per_sequence; int stepcount,steps,a1,a2,b1,b2,row,pwm_a,pwm_b,base_pwm; float power_source_volts,motor_volts,degree_increment,current_angle; long old_ms; //src volts,motor volts,step/rev,1a,1b,2a,2b,pwma,pwmb float motorinfo[2][9] = { {12,3,200,5,6,7,8,9,10}, //motor 0 {12,5,200,2,4,12,13,3,11} //motor 1 }; int m[7][32] = { {1,0,0,0,0,0,1,0,0,1,0,0,0,0,0,1}, //bipolar 1 phase on {1,0,1,0,0,1,1,0,0,1,0,1,1,0,0,1}, //bipolar 2 phases on {1,0,1,0,0,0,1,0,0,1,1,0,0,1,0,0,0,1,0,1,0,0,0,1,1,0,0,1,1,0,0,0}, //bi half {1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1}, //unipolar 1 phase on {1,1,0,0,0,1,1,0,0,0,1,1,1,0,0,1}, //unipolar 2 phases on {1,1,0,0,0,1,0,0,0,1,1,0,0,0,1,0,0,0,1,1,0,0,0,1,1,0,0,1,1,0,0,0}//uni half }; void setup() { motors=sizeof(motorinfo)/sizeof(motorinfo[0]); for (int mot=0;mot<motors+1;mot++){ for (int pin=3;pin<9;pin++){ pinMode(int(motorinfo[mot][pin]),OUTPUT); } } //motor#,mode#,denominator,direction,steps,delay turnmotor(0,0,1,0,200,4); turnmotor(0,1,4,1,800,3); turnmotor (1,4,1,0,200,5); turnmotor (1,5,2,1,400,5); } void loop(){} void turnmotor(int motor,int mode,int denominator,int dir,int steps,long dly){ pulses_per_sequence=denominator*4; power_source_volts=motorinfo[motor][0]; motor_volts=motorinfo[motor][1]; steps_per_revolution=motorinfo[motor][2]; base_pwm=(motor_volts/power_source_volts)*255; degree_increment=float(360)/pulses_per_sequence; //------------------------------ // Whole and half Step Modes //------------------------------ if (denominator<4){ current_angle=0; stepcount=0;row=-1; analogWrite((int(motorinfo[motor][7])),base_pwm); analogWrite((int(motorinfo[motor][8])),base_pwm); for (st=1;st<steps+1;st++){ row=row+1; if (row==denominator*4){row=0;} current_angle=current_angle+degree_increment; if (current_angle>360){current_angle=degree_increment;} if (dir==0){ //clockwise digitalWrite(motorinfo[motor][3],m[mode][row*4]); digitalWrite(motorinfo[motor][4],m[mode][row*4+1]); digitalWrite(motorinfo[motor][5],m[mode][row*4+2]); digitalWrite(motorinfo[motor][6],m[mode][row*4+3]); } if (dir==1){ // counter clockwise digitalWrite(motorinfo[motor][3],m[mode][row*4+3]); digitalWrite(motorinfo[motor][4],m[mode][row*4+2]); digitalWrite(motorinfo[motor][5],m[mode][row*4+1]); digitalWrite(motorinfo[motor][6],m[mode][row*4]); } old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite((int(motorinfo[motor][7])),0); analogWrite((int(motorinfo[motor][8])),0); old_ms=millis();while(millis() < old_ms+long(500)){} } //------------------------------ // Microstepping //------------------------------ if (denominator>2){ int st=0; int stepcount=0; int finished=0; if (dir==0){st=0;}else{st=steps;} do { stepcount=stepcount+1; if (dir==0){ st=st+1; current_angle=float(stepcount)*degree_increment; if (current_angle>360){stepcount=1;current_angle=degree_increment;} } if (dir==1){ st=st-1; if (current_angle==360){stepcount=1;} current_angle=360-float(stepcount)*degree_increment; if (current_angle==0){current_angle=360;} } pwm_a=cos(radians(current_angle))*255; pwm_b=sin(radians(current_angle))*255; if (pwm_a<0){a1=0;a2=1;} if (pwm_a==0.00){a1=0;a2=0;} if (pwm_a>0){a1=1;a2=0;} if (pwm_b<0){b1=0;b2=1;} if (pwm_b==0.00){b1=0;b2=0;} if (pwm_b>0){b1=1;b2=0;} pwm_a=abs(pwm_a/255.00*base_pwm); pwm_b=abs(pwm_b/255.00*base_pwm); pwm_a=int(pwm_a); pwm_b=int(pwm_b); analogWrite(motorinfo[motor][7],pwm_a); analogWrite(motorinfo[motor][8],pwm_b); digitalWrite(motorinfo[motor][3],a1); digitalWrite(motorinfo[motor][4],a2); digitalWrite(motorinfo[motor][5],b1); digitalWrite(motorinfo[motor][6],b2); old_ms=millis();while(millis() < old_ms+long(dly)){} if (dir==0 && st==steps){finished=1;st=0;} if (dir==1 && st==1){finished=1;st=0;} } while (finished!=1); analogWrite(motorinfo[motor][7],0); analogWrite(motorinfo[motor][8],0); old_ms=millis(); while(millis() < old_ms+long(500)){} } }

TB6600 Whole, Half and Microstepping from p.194

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/* TB6600 Driver with Bipolar Motor How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int enablepin=3; int dirpin=4; int pulsepin=5; int clockwise=0; int counterclockwise=1; void setup() { pinMode(enablepin,OUTPUT); pinMode(dirpin,OUTPUT); pinMode(pulsepin,OUTPUT); //rotation, delay,steps spin(counterclockwise,3,200); } void loop(){} void spin (int direction, int dly,int steps){ digitalWrite(enablepin,HIGH); digitalWrite(dirpin,direction); for (int step=1;step<steps+1;step++){ digitalWrite(pulsepin,LOW); delay(1); digitalWrite(pulsepin,HIGH); delay(dly); } digitalWrite(enablepin,LOW); }

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Biplolar Full Step (1 Phase On) from P.144	Biploar Full Step (2 Phases On) from p.152
Biplolar Half Step from p.156	Unipolar Full Step (1 Phase On) from p.161
Unipolar Full Step (2 Phases On) from p.165	Unipolar Half Step from p.169
Universal Stepper Motor Control from p.174	TB6600 Whole, Half and Microstepping from p.194

Bipolar Full Step (1 Phase On) from page 144.
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/* Bipolar Full Step 1 Phase On Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Bipolar Full Step (2 Phases On) from p.152
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/* Bipolar Full Step 2 Phases On Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Biplolar Half Step from p.156
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/* Bipolar Half Step Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Unipolar Full Step (1 Phase On) from p.161
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/* Unipolar Full Step 1 Phase On How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3;//set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Unipolar Full Step (2 Phases On) from p.165
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/* Unipolar Full Step 2 Phases On How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Unipolar Half Step from p.169
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/* Unipolar Half Step Sequence How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int phaseA1=5; int phaseA2=6; int phaseB1=7; int phaseB2=8; int pwmA=9; int pwmB=10; int dly=3; //set a 3 millisecond delay between steps int old_ms; int steps_per_revolution=200; float power_source_volts=12; float motor_volts=3; float duty_cycle=((255/power_source_volts)motor_volts); void setup() { pinMode(phaseA1,OUTPUT); pinMode(phaseA2,OUTPUT); pinMode(phaseB1,OUTPUT); pinMode(phaseB2,OUTPUT); pinMode(pwmA,OUTPUT); pinMode(pwmB,OUTPUT); analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } //turn off the power using PWM analogWrite(pwmA,0); analogWrite(pwmB,0); //pause for 3 seconds old_ms=millis();while(millis() < old_ms+long(3000)){} //turn on the power using PWM analogWrite(pwmA,duty_cycle); analogWrite(pwmB,duty_cycle); //turn counter clockwise one revolution for (int step=1;step<steps_per_revolution/4+1;step++){ digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,1); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,0); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,1); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,0); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,1); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} digitalWrite(phaseA1,1); digitalWrite(phaseA2,0); digitalWrite(phaseB1,0); digitalWrite(phaseB2,0); old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite(pwmA,0); analogWrite(pwmB,0); } void loop() { }

Universal Stepper Motor Control from p.174
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/* Universal Stepper Motor Control How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com / int motor,motors,st,steps_per_revolution,pulses_per_sequence; int stepcount,steps,a1,a2,b1,b2,row,pwm_a,pwm_b,base_pwm; float power_source_volts,motor_volts,degree_increment,current_angle; long old_ms; //src volts,motor volts,step/rev,1a,1b,2a,2b,pwma,pwmb float motorinfo[2][9] = { {12,3,200,5,6,7,8,9,10}, //motor 0 {12,5,200,2,4,12,13,3,11} //motor 1 }; int m[7][32] = { {1,0,0,0,0,0,1,0,0,1,0,0,0,0,0,1}, //bipolar 1 phase on {1,0,1,0,0,1,1,0,0,1,0,1,1,0,0,1}, //bipolar 2 phases on {1,0,1,0,0,0,1,0,0,1,1,0,0,1,0,0,0,1,0,1,0,0,0,1,1,0,0,1,1,0,0,0}, //bi half {1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1}, //unipolar 1 phase on {1,1,0,0,0,1,1,0,0,0,1,1,1,0,0,1}, //unipolar 2 phases on {1,1,0,0,0,1,0,0,0,1,1,0,0,0,1,0,0,0,1,1,0,0,0,1,1,0,0,1,1,0,0,0}//uni half }; void setup() { motors=sizeof(motorinfo)/sizeof(motorinfo[0]); for (int mot=0;mot<motors+1;mot++){ for (int pin=3;pin<9;pin++){ pinMode(int(motorinfo[mot][pin]),OUTPUT); } } //motor#,mode#,denominator,direction,steps,delay turnmotor(0,0,1,0,200,4); turnmotor(0,1,4,1,800,3); turnmotor (1,4,1,0,200,5); turnmotor (1,5,2,1,400,5); } void loop(){} void turnmotor(int motor,int mode,int denominator,int dir,int steps,long dly){ pulses_per_sequence=denominator4; power_source_volts=motorinfo[motor][0]; motor_volts=motorinfo[motor][1]; steps_per_revolution=motorinfo[motor][2]; base_pwm=(motor_volts/power_source_volts)255; degree_increment=float(360)/pulses_per_sequence; //------------------------------ // Whole and half Step Modes //------------------------------ if (denominator<4){ current_angle=0; stepcount=0;row=-1; analogWrite((int(motorinfo[motor][7])),base_pwm); analogWrite((int(motorinfo[motor][8])),base_pwm); for (st=1;st<steps+1;st++){ row=row+1; if (row==denominator4){row=0;} current_angle=current_angle+degree_increment; if (current_angle>360){current_angle=degree_increment;} if (dir==0){ //clockwise digitalWrite(motorinfo[motor][3],m[mode][row4]); digitalWrite(motorinfo[motor][4],m[mode][row4+1]); digitalWrite(motorinfo[motor][5],m[mode][row4+2]); digitalWrite(motorinfo[motor][6],m[mode][row4+3]); } if (dir==1){ // counter clockwise digitalWrite(motorinfo[motor][3],m[mode][row4+3]); digitalWrite(motorinfo[motor][4],m[mode][row4+2]); digitalWrite(motorinfo[motor][5],m[mode][row4+1]); digitalWrite(motorinfo[motor][6],m[mode][row4]); } old_ms=millis();while(millis() < old_ms+long(dly)){} } analogWrite((int(motorinfo[motor][7])),0); analogWrite((int(motorinfo[motor][8])),0); old_ms=millis();while(millis() < old_ms+long(500)){} } //------------------------------ // Microstepping //------------------------------ if (denominator>2){ int st=0; int stepcount=0; int finished=0; if (dir==0){st=0;}else{st=steps;} do { stepcount=stepcount+1; if (dir==0){ st=st+1; current_angle=float(stepcount)degree_increment; if (current_angle>360){stepcount=1;current_angle=degree_increment;} } if (dir==1){ st=st-1; if (current_angle==360){stepcount=1;} current_angle=360-float(stepcount)degree_increment; if (current_angle==0){current_angle=360;} } pwm_a=cos(radians(current_angle))255; pwm_b=sin(radians(current_angle))255; if (pwm_a<0){a1=0;a2=1;} if (pwm_a==0.00){a1=0;a2=0;} if (pwm_a>0){a1=1;a2=0;} if (pwm_b<0){b1=0;b2=1;} if (pwm_b==0.00){b1=0;b2=0;} if (pwm_b>0){b1=1;b2=0;} pwm_a=abs(pwm_a/255.00base_pwm); pwm_b=abs(pwm_b/255.00base_pwm); pwm_a=int(pwm_a); pwm_b=int(pwm_b); analogWrite(motorinfo[motor][7],pwm_a); analogWrite(motorinfo[motor][8],pwm_b); digitalWrite(motorinfo[motor][3],a1); digitalWrite(motorinfo[motor][4],a2); digitalWrite(motorinfo[motor][5],b1); digitalWrite(motorinfo[motor][6],b2); old_ms=millis();while(millis() < old_ms+long(dly)){} if (dir==0 && st==steps){finished=1;st=0;} if (dir==1 && st==1){finished=1;st=0;} } while (finished!=1); analogWrite(motorinfo[motor][7],0); analogWrite(motorinfo[motor][8],0); old_ms=millis(); while(millis() < old_ms+long(500)){} } }

TB6600 Whole, Half and Microstepping from p.194
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/* TB6600 Driver with Bipolar Motor How to Control Stepper Motors Written by Michael Wright, Y2kLeader.com */ int enablepin=3; int dirpin=4; int pulsepin=5; int clockwise=0; int counterclockwise=1; void setup() { pinMode(enablepin,OUTPUT); pinMode(dirpin,OUTPUT); pinMode(pulsepin,OUTPUT); //rotation, delay,steps spin(counterclockwise,3,200); } void loop(){} void spin (int direction, int dly,int steps){ digitalWrite(enablepin,HIGH); digitalWrite(dirpin,direction); for (int step=1;step<steps+1;step++){ digitalWrite(pulsepin,LOW); delay(1); digitalWrite(pulsepin,HIGH); delay(dly); } digitalWrite(enablepin,LOW); }