main.cpp

00001 //  28BYJ-48 stepper motor example
00002 //  showing how to control a unipolar stepper motor by mbed digital output ports.
00003 //  Tested on the Nucleo F103RB Board
00004 //  Based on http://www.geeetech.com/wiki/index.php/Stepper_Motor_5V_4-Phase_5-Wire_%26_ULN2003_Driver_Board_for_Arduino
00005 //  Using the ULN2003A Driver.
00006 
00007 #include "mbed.h"
00008 
00009 BusOut motor_out(PC_0, PC_1, PC_2, PC_3);  // blue - pink - yellow - orange
00010 
00011 int step = 0; 
00012 int dir = 1; // direction
00013 
00014 int main()
00015 {
00016     while(1)
00017     { 
00018         switch(step)
00019         { 
00020             case 0: motor_out = 0x1; break;  // 0001
00021             case 1: motor_out = 0x3; break;  // 0011
00022             case 2: motor_out = 0x2; break;  // 0010   
00023             case 3: motor_out = 0x6; break;  // 0110
00024             case 4: motor_out = 0x4; break;  // 0100
00025             case 5: motor_out = 0xC; break;  // 1100
00026             case 6: motor_out = 0x8; break;  // 1000
00027             case 7: motor_out = 0x9; break;  // 1001
00028             
00029             default: motor_out = 0x0; break; // 0000
00030         }
00031   
00032         if(dir) step++; else step--; 
00033         if(step>7)step=0; 
00034         if(step<0)step=7; 
00035         wait(0.015);  // speed
00036     }
00037 }
00038