Freenove Ultimate Starter Kit User Manual

175
Chapter 16 Stepping Motor
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//continuous rotation function, the parameter steps specifies the rotation cycles, every
four steps is a cycle
void moveSteps(int dir, int ms, int steps){
int i;
for(i=0;i<steps;i++){
moveOnePeriod(dir,ms);
}
}
void motorStop(){ //function used to stop rotating
int i;
for(i=0;i<4;i++){
digitalWrite(motorPins[i],LOW);
}
}
int main(void){
int i;
if(wiringPiSetup() == -1){ //when initialize wiring failed,print message to screen
printf("setup wiringPi failed !");
return 1;
}
for(i=0;i<4;i++){
pinMode(motorPins[i],OUTPUT);
}
while(1){
moveSteps(1,3,512); //rotating 360° clockwise, a total of 2048 steps in a
circle, namely, 512 cycles.
delay(500);
moveSteps(0,3,512); //rotating 360° anticlockwise
delay(500);
}
return 0;
}
In the code, define four pins of stepping motor and coil power supply order of four steps rotation mode.
const int motorPins[]={1,4,5,6}; //define pins connected to four phase ABCD of stepper
motor
const int CCWStep[]={0x01,0x02,0x04,0x08}; //define power supply order for coil for
rotating anticlockwise
const int CWStep[]={0x08,0x04,0x02,0x01}; //define power supply order for coil for
rotating clockwise
Subfunction moveOnePeriod ((int dir,int ms) will drive the stepping motor rotating four step clockwise or
anticlockwise, four step as a cycle. Where parameter "dir" indicates the rotation direction, if "dir" is 1, the servo
will rotate forward, otherwise it rotates to reverse direction. Parameter "ms" indicates the time between each

Freenove Ultimate Starter Kit Specifications

General

Brand	Freenove
Model	Ultimate Starter Kit
Category	Single board computers
Language	English