====== ULN2003 ====== * http://www.instructables.com/id/BYJ48-Stepper-Motor/ * library : http://engyfun.blogspot.fr/2015/02/here-is-source-code-for-our-28byj48.html {{:materiel:uln2003:uln2003.jpg|}} {{youtube>Sl2mzXfTwCs?large}} ===== Exemple =====


/*
   BYJ48 Stepper motor code
   Connect :
   IN1 >> D8
   IN2 >> D9
   IN3 >> D10
   IN4 >> D11
   VCC ... 5V Prefer to use external 5V Source
   Gnd
   written By :Mohannad Rawashdeh
  https://www.instructables.com/member/Mohannad+Rawashdeh/
     28/9/2013
  */

#define IN1  8
#define IN2  9
#define IN3  10
#define IN4  11

int Steps = 0;
boolean Direction = true;// gre
unsigned long last_time;
unsigned long currentMillis ;
int steps_left=4095;
long time;
void setup()
{
Serial.begin(115200);
pinMode(IN1, OUTPUT); 
pinMode(IN2, OUTPUT); 
pinMode(IN3, OUTPUT); 
pinMode(IN4, OUTPUT); 
// delay(1000);

}
void loop()
{
  while(steps_left>0){
  currentMillis = micros();
  if(currentMillis-last_time>=1000){
  stepper(1); 
  time=time+micros()-last_time;
  last_time=micros();
  steps_left--;
  }
  }
   Serial.println(time);
  Serial.println("Wait...!");
  delay(2000);
  Direction=!Direction;
  steps_left=4095;
}

void stepper(int xw){
  for (int x=0;x7){Steps=0;}
if(Steps<0){Steps=7; }
}

=====simple code avec lib stepper =====


#include 
const int stepsPerRevolution = 32*64;  

// (step,1N2,1N4,1N3,1N1)
Stepper myStepper(stepsPerRevolution, 9, 11, 10, 8);
 
void setup() {    }
 
void loop() {
    myStepper.setSpeed(10);  //vitesse entre 0 et 15

    // 100 step = 2048 
    myStepper.step(2048);
    delay(1500);
    myStepper.step(-2048);
    delay(1500);
}

===== StepperMotor LIB ===== * Creer un dossier StepperMotor dans /User/..../Arduino/libraries * copier StepperMotor.h et StepperMotor.cpp dedans


// StepperMotor.h
#ifndef Stepper_h
#define Stepper_h

class StepperMotor {
public:
    StepperMotor(int In1, int In2, int In3, int In4);    // Constructor that will set the inputs
    void setStepDuration(int duration);    // Function used to set the step duration in ms
    void step(int noOfSteps);    // Step a certain number of steps. + for one way and - for the other

    int duration;    // Step duration in ms
    int inputPins[4];    // The input pin numbers
};

#endif


// StepperMotor.cpp
#include 
#include 

StepperMotor::StepperMotor(int In1, int In2, int In3, int In4){
    // Record pin numbers in the inputPins array
    this->inputPins[0] = In1;
    this->inputPins[1] = In2;
    this->inputPins[2] = In3;
    this->inputPins[3] = In4;

    // Iterate through the inputPins array, setting each one to output mode
    for(int inputCount = 0; inputCount < 4; inputCount++){
        pinMode(this->inputPins[inputCount], OUTPUT);
    }
    duration = 50;
}

void StepperMotor::setStepDuration(int duration){
    this->duration = duration;
}

void StepperMotor::step(int noOfSteps){
    /*
        The following 2D array represents the sequence that must be
        used to acheive rotation. The rows correspond to each step, and
        the columns correspond to each input. L
    */
    bool sequence[][4] = {{LOW, LOW, LOW, HIGH },
                          {LOW, LOW, HIGH, HIGH},
                          {LOW, LOW, HIGH, LOW },
                          {LOW, HIGH, HIGH, LOW},
                          {LOW, HIGH, LOW, LOW },
                          {HIGH, HIGH, LOW, LOW},
                          {HIGH, LOW, LOW, LOW },
                          {HIGH, LOW, LOW, HIGH}};
                      
    int factor = abs(noOfSteps) / noOfSteps;    // If noOfSteps is +, factor = 1. If noOfSteps is -, factor = -1 
    noOfSteps = abs(noOfSteps);    // If noOfSteps was in fact negative, make positive for future operations

    /* 
        The following algorithm runs through the sequence the specified number 
        of times
    */
    for(int sequenceNum = 0;  sequenceNum <= noOfSteps/8; sequenceNum++){
        for(int position = 0; ( position < 8 ) && ( position < ( noOfSteps - sequenceNum*8 )); position++){
            delay(duration);
            for(int inputCount = 0; inputCount < 4; inputCount++){
                digitalWrite(this->inputPins[inputCount], sequence[(int)(3.5 - (3.5*factor) + (factor*position))][inputCount]);
            }
        } 
    }
}


#include 

StepperMotor motor1(8,9,10,11);
StepperMotor motor2(4,5,6,7);

void setup(){
  Serial.begin(9600);
  motor1.setStepDuration(1);
  motor2.setStepDuration(1);
}

void loop(){
  motor1.step(1000);
  motor2.step(1000);
  delay(2000);
  motor1.step(-1000);
  motor2.step(-1000);
  delay(2000);