motor control, servo and stepper

week4/examples/MotorProject/src/main.cpp

@@ -0,0 +1,73 @@
+#include <Arduino.h>
+#include <Servo.h>
+#include <AccelStepper.h>
+
+#define STEP_PIN 0
+#define DIR_PIN 1
+
+// Create stepper instance using DRIVER interface
+AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
+
+/*
+A Continuous servo example.
+With 360 continuous the 90 position is a stop
+180 rotates right
+0 rotates left
+*/
+//Servo myServo;
+
+//int pos = 0; 
+void setup() {
+  // myServo.attach(0); // Attach to GPIO 0 continuous mode
+  //myServo.attach(0, 500, 2500); //180 degree mode
+  // Set maximum speed and acceleration
+  stepper.setMaxSpeed(1000);      // Steps per second
+  stepper.setAcceleration(500);   // Steps per second^2
+  stepper.setCurrentPosition(0);  // Home position
+}
+
+void loop() {
+  /*
+  myServo.write(180);
+  delay(5000);
+  myServo.write(90);
+  delay(1000);
+  myServo.write(0);
+  delay(5000);
+  myServo.write(90);
+  delay(1000);
+  */
+  //hi
+  
+  /*
+  //180 degree version
+  for (pos = 0; pos <= 180; pos += 1) {
+    myServo.write(pos);    // tell servo to go to position in variable 'pos'
+    delay(10);               // waits 15ms for the servo to reach the position
+  }
+  
+  // goes from 180 degrees to 0 degrees
+  for (pos = 180; pos >= 0; pos -= 1) {
+    myServo.write(pos);    // tell servo to go to position in variable 'pos'
+    delay(10);               // waits 15ms for the servo to reach the position
+  }
+  */
+  // Move 800 steps forward (4 revolutions at 1/8 microstepping)
+  stepper.moveTo(800);
+  
+  // Run the motor to the target position
+  // run() must be called frequently in the loop
+  while (stepper.distanceToGo() != 0) {
+    stepper.run();
+  }
+  
+  delay(1000);
+  
+  // Move back to home
+  stepper.moveTo(0);
+  while (stepper.distanceToGo() != 0) {
+    stepper.run();
+  }
+  
+  delay(1000);
+}