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*!
* @file Motor_Stepper.ino
* @brief DFRobot's Motor Drive
* @n The example demonstrates one group of stepping motor and 2 groups
of D.C motors work together at the same time, contains direction control
of D.C motors and stepping motor.
* @copyright [DFRobot](http://www.dfrobot.com), 2016
* @copyright GNU Lesser General Public License
* @author [LiXin]
* @version V1.0
* @date 2017-7-31
* @https://github.com/DFRobot/DFRobot_MotorStepper
*/
#include "Arduino.h"
#include "Wire.h"
#include "DFRobot_MotorStepper.h"
/*****************Keywords instruction*****************/
//M3--->motor_Group_3--->[M3A(+),M3B(-)]
//M4--->motor_Group_4--->[M4A(+),M4B(-)]
//SA--->Stepper_Group_A--->[M1A(A+),M1B(A-),M2A(B+),M2B(B-)]
//CW: rotate in positive direction
//CCW: rotate in reverse
//A0: Chip Selection Address 1
//A1: Chip Selection Address 2
//A2: Chip Selection Address 3
//A3: Chip Selection Address 4
/*****************Function instruction*****************/
//void start(float angle, uint16_t speed, uint8_t dir)
//*This function can be used to start the motor
//*angle: Set the Angle Min:0°(If the Angle is equal to 0°,The motor will not stop spinning)
//*speed: Set the speed Min:8
//*dir: Set Orientation CW or CCW
//void getDir()
//*This function can get the current rotation direction of the motor
DFRobot_Stepper stepperA(SA);
DFRobot_Motor motor4(M4);
void reverse_4()
{
motor4.start(!motor4.getDir());
}
void reverse_SA()
{
stepperA.start(0, 12, !stepperA.getDir());
}
void setup() {
//initialize serial communication at 9600 bits per second:
Serial.begin(115200);
//join i2c bus (address optional for master)
Wire.begin();
//Initialize motor drive chip of stepping motor (Group A) and ¾ group of D.C motor
stepperA.init();
motor4.init();
//Set the initial direction
motor4.start(CW);
stepperA.start(0, 12, CW);
delay(1500);
}
void loop()
{
static int i=0;
//motor4 reverse in every 1.5 seconds
reverse_4();
//Stepping motor (Group A) reverse in every 3 seconds
if((++i%2) == 0) {
reverse_SA();
i=0;
}
delay(1500);
}
Program Function: group A stepper motors (M1A(A+), M1B(A-), M2A(B+), M2B(B-)) reverse in every 3s and group 4 DC motor (M4A(+), M4B(-))reverse in every 1.5s.
Functions:
1. Create a stepper motor object.