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projects:steppermotor [2013/01/06 11:14]
elger created 		projects:steppermotor [2016/11/16 13:06] (current)
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 The Wiki page on [[http://​en.wikipedia.org/​wiki/​Stepper_motor|stepper motors]] does an excellent job at documenting the motor. The Wiki page on [[http://​en.wikipedia.org/​wiki/​Stepper_motor|stepper motors]] does an excellent job at documenting the motor.
  
 +====== The components ======
  
 +This first test setup has three components, an Arduino (clone), A stepper driver and a stepper motor.
 +
 +{{ :​projects:​steppermotor:​stepper-motor_overview_text.jpg?​600 |}}
 +
 +The Arduino clone is just like a regular Arduino but this one has a serial port and the labeling of the ports is more like the real Atmega328 pin mapping.
 +{{ :​projects:​steppermotor:​arduino-clone.jpg?​200 |}} 
 +The controller board was a bit of a chalange because I tried to design it myself with the two chips that were designed specifically for this: the [[http://​www.st.com/​internet/​com/​TECHNICAL_RESOURCES/​TECHNICAL_LITERATURE/​DATASHEET/​CD00000063.pdf|L297 STEPPER MOTOR CONTROLLERS]] and the [[http://​www.st.com/​internet/​com/​TECHNICAL_RESOURCES/​TECHNICAL_LITERATURE/​DATASHEET/​CD00000240.pdf|L298 Dual Full Bridge Driver]]. This is no simple task if you need to do it on a single layer PCB. So in the end I just bought the simpler L298 driver board of [[http://​www.ebay.nl/​itm/​L298N-Based-Stepper-DC-Motor-Driver-Controller-Board-Dual-H-Bridge-For-Arduino-/​160898410591?​pt=LH_DefaultDomain_0&​hash=item25764ae85f|e-bay]] so I could get started.
 +{{ :​projects:​steppermotor:​l298n_based_dual_h-bridge_controller_board.jpg?​200 |}}
 +
 +The steppermotor I chose also came from e-bay, it works on 12V and it is unipolar. In the end the problem with this motor is that the wire coloring is different from any data-sheet I could find. So after a lot of searching and testing I came up with the right sequence.
 +{{ :​projects:​steppermotor:​stepper-motor.jpg?​200 |}}
 +Coil A : Blue | Coil B : Yellow | Coil C : Green | Coil D : Red
 +
 +The label on the motor reads: Huisitong MOTOR 42BYGH202AA 1.8 1A 0: 20110717000KU
 +
 +
 +====== The demo ======
 +<​html>​
 +<iframe width="​853"​ height="​480"​ src="​http://​www.youtube.com/​embed/​-20p3q9VnIA"​ frameborder="​0"​ allowfullscreen></​iframe>​
 +</​html>​
 +
 +====== The code ======
 +<code cpp L298N_driver_test.ino>​
 +// test script
 +// Drive a Motor controller L298N
 +
 +
 +//IN1 IN2 : TTL Compatible Inputs of the Bridge A
 +//In3 In4 :TTL Compatible Inputs of the Bridge B.
 +//ENA ENB:TTL Compatible Enable Input: the L state disables the
 +//bridge A(enable A) and/or the bridge B (enable B).
 +
 +#define ENA  8
 +#define IN1  9
 +#define IN2 10
 +#define IN3 11
 +#define IN4 12
 +#define ENB 13
 +
 +void setup() {
 +  // put your setup code here, to run once:
 +  pinMode(ENA,​ OUTPUT);
 +  pinMode(IN1,​ OUTPUT);
 +  pinMode(IN2,​ OUTPUT);
 +  pinMode(IN3,​ OUTPUT);
 +  pinMode(IN4,​ OUTPUT);
 +  pinMode(ENB,​ OUTPUT);
 +
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ HIGH);
 +
 +}
 +
 +void loop() {
 +  // put your main code here, to run repeatedly: ​
 +  engage();
 +  for (int i = 0 ; i < 50; i++ ) {  ​
 +    //​waveDriveOneFaseOn();​
 +    //​waveDriveTwoFaseOn();​
 +    halfStep();
 +  }
 +  delay(10);
 +  disengage();​
 +  delay(2000);​
 +
 +
 +}
 +
 +void engage() {
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(ENB,​ HIGH);
 +}
 +
 +void disengage() {
 +  digitalWrite(ENA,​ LOW);
 +  digitalWrite(ENB,​ LOW);
 +}
 +
 +void  waveDriveTwoFaseOn() {
 +  //State sequence and output waveforms for the two phase on sequence
 +  // only four steps for one turn
 +  // 0101
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ HIGH);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ HIGH);
 +  delayMicroseconds(1000);​
 +
 +  //1001
 +  digitalWrite(IN1,​ HIGH);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ HIGH);
 +  delayMicroseconds(1000);​
 +
 +  //1010
 +  digitalWrite(IN1,​ HIGH);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ HIGH);
 +  digitalWrite(IN4,​ LOW);
 +  delayMicroseconds(1000);​
 +
 +  //0110
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ HIGH);
 +  digitalWrite(IN3,​ HIGH);
 +  digitalWrite(IN4,​ LOW);
 +  delayMicroseconds(1000);​
 +}
 +
 +void halfStep() {
 +
 +  //101011
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ HIGH);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ HIGH);
 +  digitalWrite(ENB,​ HIGH); ​
 +  delayMicroseconds(1000);​
 +
 +  //000011
 +  digitalWrite(ENA,​ LOW);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ HIGH);
 +  digitalWrite(ENB,​ HIGH);
 +  ​
 +
 +  //110011
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ HIGH);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ HIGH);
 +  digitalWrite(ENB,​ HIGH); ​
 +  delayMicroseconds(1000);​
 +
 +  //110000
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ HIGH);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ LOW); 
 +  delayMicroseconds(1000);​
 +
 +  //110101
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ HIGH);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ HIGH);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ HIGH); ​
 +  delayMicroseconds(1000);​
 +
 +
 +  //000101
 +  digitalWrite(ENA,​ LOW);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ HIGH);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ HIGH); ​
 +  delayMicroseconds(1000);​
 +
 +
 +  //101101
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ HIGH);
 +  digitalWrite(IN3,​ HIGH);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ HIGH); ​
 +  delayMicroseconds(1000);​
 +
 +  //101000
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ HIGH);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ LOW);   
 +  delayMicroseconds(1000);​
 +}
 +
 +void waveDriveOneFaseOn() {
 +
 +  //000011
 +  digitalWrite(ENA,​ LOW);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ HIGH);
 +  digitalWrite(ENB,​ HIGH); ​  
 +  delayMicroseconds(1000);​
 +
 +  //110000
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ HIGH);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ LOW);   
 +  delayMicroseconds(1000);​
 +
 +  //000101
 +  digitalWrite(ENA,​ LOW);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ LOW);
 +  digitalWrite(IN3,​ HIGH);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ HIGH); ​  
 +  delayMicroseconds(1000);​
 +
 +  //101000
 +  digitalWrite(ENA,​ HIGH);
 +  digitalWrite(IN1,​ LOW);
 +  digitalWrite(IN2,​ HIGH);
 +  digitalWrite(IN3,​ LOW);
 +  digitalWrite(IN4,​ LOW);
 +  digitalWrite(ENB,​ LOW);   
 +  delayMicroseconds(1000);​
 +}
 +</​code>​