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Stepping Motor

Above Figure: ATmega88,168,328 Stepping Motor interface Circuit.

0. Learning Basic Program from ETT.

/*
 * Examples  : Arduino Experiment Examples By....ETT CO.,LTD
 * Program   : Hardware LAB5.1
 * Hardware  : ET-BASE AVR EASY MEGA88/168(Arduino)
 *           : ET-MINI SMCC-547(Unipolar : 18-Degree / Step)
 *           : -> INA = Digital-4
 *           : -> INB = Digital-5
 *           : -> INC = Digital-6
 *           : -> IND = Digital-7
 * Function  : Stepping Motor Control
 *           : 1-Phase Drive(Wave Drive)
 */

#define StepRate 10               //10mS Delay Step Drive
int INA = 4;                      //Phase-A Signal Drive
int INB = 5;                      //Phase-B Signal Drive 
int INC = 6;                      //Phase-C Signal Drive
int IND = 7;                      //Phase-D Signal Drive

static byte  Step = 0;           //Position Step Buffer
static byte *pStep;

/*
 * 1 Phase Drive : Half Drive
 *               : Wave Drive
 *               : 1 Excitation Drive
 */ 
void WaveStepDrive(byte *Step)
{
  byte MyStep = *Step;              //Get Step Position  
  switch (MyStep) 
  {
      case 0: digitalWrite(INA, HIGH);
              digitalWrite(INB, LOW);
              digitalWrite(INC, LOW);
              digitalWrite(IND, LOW);             
              break;
              
      case 1: digitalWrite(INA, LOW);
              digitalWrite(INB, HIGH);
              digitalWrite(INC, LOW);
              digitalWrite(IND, LOW);              
              break;
              
      case 2: digitalWrite(INA, LOW);
              digitalWrite(INB, LOW);
              digitalWrite(INC, HIGH);
              digitalWrite(IND, LOW);           
              break;
              
      case 3: digitalWrite(INA, LOW);
              digitalWrite(INB, LOW);
              digitalWrite(INC, LOW);
              digitalWrite(IND, HIGH);             
              break;
  }
}

void setup()
{
  pinMode(INA, OUTPUT);
  pinMode(INB, OUTPUT);
  pinMode(INC, OUTPUT);
  pinMode(IND, OUTPUT);
  
  digitalWrite(INA, LOW);
  digitalWrite(INB, LOW);
  digitalWrite(INC, LOW);
  digitalWrite(IND, LOW);   
}

void loop()
{  
  for (int i=0; i<20; i++)  //20 Step / 1 Round
  {
    pStep = &Step;          //1-Stop Forward 
    *pStep += 1;            //0,1,2,3,0,1,2,3,...,0,1,2,3
    *pStep &= 0x03;         //Step=0..3
    WaveStepDrive(&Step);      
    delay(StepRate);
  }
  delay(500);
  
  for (int i=20; i>0; i--)  //20 Step / 1-Round
  {
    pStep = &Step;         //1-Stop Reverse 
    *pStep -= 1;           //3,2,1,0,3,2,1,0,...,3,2,1,0
    *pStep &= 0x03;        //Step=0..3
    WaveStepDrive(&Step);    
    delay(StepRate);
  }  
  delay(500);
  
}

1. Program to drive a stepper motor by David Cuartielles

/* Stepper Copal
 * -------------
 *
 * Program to drive a stepper motor coming from a 5'25 disk drive
 * according to the documentation I found, this stepper: "[...] motor 
 * made by Copal Electronics, with 1.8 degrees per step and 96 ohms 
 * per winding, with center taps brought out to separate leads [...]"
 * [http://www.cs.uiowa.edu/~jones/step/example.html]
 *
 * It is a unipolar stepper motor with 5 wires:
 * 
 * - red: power connector, I have it at 5V and works fine
 * - orange and black: coil 1
 * - brown and yellow: coil 2
 *
 * (cleft) 2005 DojoDave for K3
 * http://www.0j0.org | http://arduino.berlios.de
 *
 * @author: David Cuartielles
 * @date: 20 Oct. 2005
 */

int motorPin1 = 4; //Digital pin 4
int motorPin2 = 5; //Digital pin 5
int motorPin3 = 6; //Digital pin 6
int motorPin4 = 7; //Digital pin 7
int delayTime = 500;

void setup() {
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
}

void loop() {
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, HIGH);
  delay(delayTime);
}

referent website: http://www.arduino.cc/en/Tutorial/StepperUnipolar

ไทย
ทดลองเปลี่ยน delayTime ดู พบว่า
delay(0) ไม่สามารถหมุนได้ สั่น
delay(2) ไม่สามารถหมุนได้ สั่น
delay(4) หมุนได้ แต่สั่น
delay(5) สามารถหมุนได้ ราบลื่น เร็วที่สุด

English:
What happen ? when you change delay time funtion ?
answer:
delay(0) no move and shake.
delay(2) no move and shake.
delay(4) move around but a little shake.
delay(5) move around smoothly and fastest.

2. Control speed for Stepping Motor (Normal Power)

int motorPin1 = 4; //Digital pin 4
int motorPin2 = 5; //Digital pin 5
int motorPin3 = 6; //Digital pin 6
int motorPin4 = 7; //Digital pin 7

int analogPin0=0;
int val=0;
int delayTime = 0;



void setup() {
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
  
  pinMode(analogPin0,INPUT); // get input from variable Resister.
}



void loop() {
  int val=analogRead(analogPin0);
  val=map(val,0,1023,0,500); // set delayTime value between 0-500 
  delayTime=val;


  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, HIGH);
  delay(delayTime);
}

3. Double wire stepping motor with control speed. (High Power)

int motorPin1 = 4; //Digital pin 4
int motorPin2 = 5; //Digital pin 5
int motorPin3 = 6; //Digital pin 6
int motorPin4 = 7; //Digital pin 7

int analogPin0=0;
int val=0;
int delayTime = 0;



void setup() {
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
  
  pinMode(analogPin0,INPUT); // get input from variable Resister.
}



void loop() {
  int val=analogRead(analogPin0);
  val=map(val,0,1023,0,500); // set delayTime value between 0-500 
  delayTime=val;


  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
  delay(delayTime);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, HIGH);
  delay(delayTime);
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, HIGH);
  delay(delayTime);
}