Драйвер шагового двигателя EasyDriver V44 A3967 для Arduino

Sketch code

/*Пример программы
Table 1.   Microstep Resolution Truth Table
 MS1  MS2   Resolution
 L    L     Full step (2 phase)
 H    L     Half step
 L    H     Quarter step
 H    H     Eighth step

 DIR = D6
 Step = D5  // LOW to HIGH
 SLEEP = D7 // active LOW
 MS1 =   D8
 MS2 = D9
 Enable = D10 // active LOW

 */

#define DIR_PIN 6
#define STEP_PIN 5
#define SLEEP 7
#define MS1 8
#define MS2 9
#define ENABLE 10

void setup()
{
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(SLEEP, OUTPUT);
  pinMode(MS1, OUTPUT);
  pinMode(MS2, OUTPUT);
  pinMode(ENABLE, OUTPUT);

  digitalWrite(DIR_PIN, LOW);
  digitalWrite(STEP_PIN, LOW);
  digitalWrite(SLEEP, HIGH);
  digitalWrite(MS1, LOW); // set for single step
  digitalWrite(MS2, LOW);
  digitalWrite(ENABLE, HIGH);  // motor off

}  // end setup

void loop()
{

  int i;

  motorOff();
  delay(2000); // wait for 3 seconds
  digitalWrite(DIR_PIN, LOW);     // Set the direction.
  fullStep();
  motorOn();

  for (i = 0; i< 200; i++)       // Iterate for 200 microsteps.
  {
    pulseOut(STEP_PIN);
    delay(5);
  }

  motorOff();
  delay(2000); // wait for 3 seconds
  digitalWrite(DIR_PIN, HIGH);     // Set the direction.
  halfStep();
  motorOn();

  for (i = 0; i< 400; i++)       // Iterate for 400 microsteps.
  {
    pulseOut(STEP_PIN);
    delay(2);
  }

  motorOff();
  delay(2000); // wait for 3 seconds
  digitalWrite(DIR_PIN, LOW);     // Set the direction.
  quarterStep();
  motorOn();

  for (i = 0; i< 800; i++)       // Iterate for 800 microsteps.
  {
    pulseOut(STEP_PIN);
    delay(1);
  }

  motorOff();
  delay(2000); // wait for 3 seconds
  digitalWrite(DIR_PIN, HIGH);     // Set the direction.
  eighthStep();
  motorOn();

  for (i = 0; i< 1600; i++)       // Iterate for 1600 microsteps.
  {
    pulseOut(STEP_PIN);
    delay(2);
  }

} // end loop

// inverts state of pin, delays, then reverts state back
void    pulseOut(byte x)   {
  byte z = digitalRead(x);
  delayMicroseconds(10);
  z = !z; // reverse state
  digitalWrite(x, z);
  z = !z; // return to original state
  digitalWrite(x, z);
} // end pulsout()

void fullStep(void)   {
  digitalWrite(MS1, LOW);
  digitalWrite(MS2, LOW);
}

void halfStep(void)   {
  digitalWrite(MS1, HIGH);
  digitalWrite(MS2, LOW);
}

void quarterStep(void)   {
  digitalWrite(MS1, LOW);
  digitalWrite(MS2, HIGH);
}

void eighthStep(void)   {
  digitalWrite(MS1, HIGH);
  digitalWrite(MS2, HIGH);
}

void motorOff(void)   {
  digitalWrite(ENABLE, HIGH);
}

void motorOn(void)   {
  digitalWrite(ENABLE, LOW);
}

Sketch code

//Пример программы управления двигателем с помощью джойстика

#define step_pin 3  // Pin 3 connected to Steps pin on EasyDriver
#define dir_pin 2   // Pin 2 connected to Direction pin
#define MS1 5       // Pin 5 connected to MS1 pin
#define MS2 4       // Pin 4 connected to MS2 pin
#define SLEEP 7     // Pin 7 connected to SLEEP pin
#define X_pin A0    // Pin A0 connected to joystick x axis

int direction;    // Variable to set Rotation (CW-CCW) of the motor
int steps = 1025; // Assumes the belt clip is in the Middle

void setup() {
   pinMode(MS1, OUTPUT);
   pinMode(MS2, OUTPUT);
   pinMode(dir_pin, OUTPUT);
   pinMode(step_pin, OUTPUT);
   pinMode(SLEEP, OUTPUT);
   
   digitalWrite(SLEEP, HIGH);  // Wake up EasyDriver
   delay(5);  // Wait for EasyDriver wake up
   

/* Configure type of Steps on EasyDriver:
// MS1 MS2
//
// LOW LOW = Full Step //
// HIGH LOW = Half Step //
// LOW HIGH = A quarter of Step //
// HIGH HIGH = An eighth of Step //
*/

   digitalWrite(MS1, LOW);      // Configures to Full Steps
   digitalWrite(MS2, LOW);    // Configures to Full Steps
   
}

void loop() {
  while (analogRead(X_pin) >= 0 && analogRead(X_pin) <= 100) {
    if (steps > 0) {
      digitalWrite(dir_pin, HIGH);  // (HIGH = anti-clockwise / LOW = clockwise)
      digitalWrite(step_pin, HIGH);
      delay(1);
      digitalWrite(step_pin, LOW);
      delay(1);
      steps--;
    }      
  }
 
    while (analogRead(X_pin) > 100 && analogRead(X_pin) <= 400) {
      if (steps < 512) {
        digitalWrite(dir_pin, LOW);  // (HIGH = anti-clockwise / LOW = clockwise)
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps++;
      }    
      if (steps > 512) {
        digitalWrite(dir_pin, HIGH);
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps--;
      }
    }    
      
    while (analogRead(X_pin) > 401 && analogRead(X_pin) <= 600) {
      if (steps < 1025) {
        digitalWrite(dir_pin, LOW);
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps++;
      }    
      if (steps > 1025) {
        digitalWrite(dir_pin, HIGH);
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps--;
      }
    }

    while (analogRead(X_pin) > 601 && analogRead(X_pin) <= 900) {
      if (steps < 1535) {
        digitalWrite(dir_pin, LOW);
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps++;
      }    
      if (steps > 1535) {
        digitalWrite(dir_pin, HIGH);
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps--;
      }    
    }   
   
    while (analogRead(X_pin) > 900 && analogRead(X_pin) <= 1024) {
      if (steps < 2050) {
        digitalWrite(dir_pin, LOW);
        digitalWrite(step_pin, HIGH);
        delay(1);
         digitalWrite(step_pin, LOW);
        delay(1);
        steps++;
      }
    }
}