BBB (Freeduino) and stepper motor test

Test with BBB (Freeduino) board, Darlington H-Bridge, Mabuchi # PF35T-48L4 stepper motor. Many thanks to Tom Igoe and his Physical computing book.

  1. /*
  2. Owen Mundy
  3. July 29, 2009
  5. p. 262 of Physical Computing
  6. Using BBB to run stepper motor by manually moving steppers
  8. */
  10. int pin1 = 3; // PWM
  11. int pin2 = 5; // PWM
  12. int pin3 = 6; // PWM
  13. int pin4 = 9; // PWM
  14. int ledpin = 13; // LED
  16. void setup()
  17. {
  18. pinMode(pin1, OUTPUT); // sets the pin as output
  19. pinMode(pin2, OUTPUT); // sets the pin as output
  20. pinMode(pin3, OUTPUT); // sets the pin as output
  21. pinMode(pin4, OUTPUT); // sets the pin as output
  22. pinMode(ledpin, OUTPUT); // sets the pin as output
  23. }
  25. void loop()
  26. {
  27. for (int i=0; i<24; i++)
  28. {
  29. digitalWrite(pin1, HIGH); // on
  30. digitalWrite(pin2, LOW); // off
  31. digitalWrite(pin3, HIGH); // on
  32. digitalWrite(pin4, LOW); // off
  33. delay(10); // waits for a second
  35. digitalWrite(pin1, LOW); // off
  36. digitalWrite(pin2, HIGH); // on
  37. digitalWrite(pin3, HIGH); // on
  38. digitalWrite(pin4, LOW); // off
  39. delay(10); // waits for a second
  41. digitalWrite(pin1, LOW); // off
  42. digitalWrite(pin2, HIGH); // on
  43. digitalWrite(pin3, LOW); // off
  44. digitalWrite(pin4, HIGH); // on
  45. delay(10); // waits for a second
  47. digitalWrite(pin1, HIGH); // on
  48. digitalWrite(pin2, LOW); // off
  49. digitalWrite(pin3, LOW); // off
  50. digitalWrite(pin4, HIGH); // on
  51. delay(10); // waits for a second
  52. }
  54. blink();
  56. for (int i=0; i<24; i++)
  57. {
  59. digitalWrite(pin1, HIGH); // on
  60. digitalWrite(pin2, LOW); // off
  61. digitalWrite(pin3, LOW); // off
  62. digitalWrite(pin4, HIGH); // on
  63. delay(10); // waits for a second
  65. digitalWrite(pin1, LOW); // off
  66. digitalWrite(pin2, HIGH); // on
  67. digitalWrite(pin3, LOW); // off
  68. digitalWrite(pin4, HIGH); // on
  69. delay(10); // waits for a second
  71. digitalWrite(pin1, LOW); // off
  72. digitalWrite(pin2, HIGH); // on
  73. digitalWrite(pin3, HIGH); // on
  74. digitalWrite(pin4, LOW); // off
  75. delay(10); // waits for a second
  77. digitalWrite(pin1, HIGH); // on
  78. digitalWrite(pin2, LOW); // off
  79. digitalWrite(pin3, HIGH); // on
  80. digitalWrite(pin4, LOW); // off
  81. delay(10); // waits for a second
  82. }
  84. blink();
  86. for (int i=0; i<6; i++)
  87. {
  88. digitalWrite(pin1, HIGH); // on
  89. digitalWrite(pin2, LOW); // off
  90. digitalWrite(pin3, HIGH); // on
  91. digitalWrite(pin4, LOW); // off
  92. delay(10); // waits for a second
  94. digitalWrite(pin1, LOW); // off
  95. digitalWrite(pin2, HIGH); // on
  96. digitalWrite(pin3, HIGH); // on
  97. digitalWrite(pin4, LOW); // off
  98. delay(10); // waits for a second
  100. digitalWrite(pin1, LOW); // off
  101. digitalWrite(pin2, HIGH); // on
  102. digitalWrite(pin3, LOW); // off
  103. digitalWrite(pin4, HIGH); // on
  104. delay(10); // waits for a second
  106. digitalWrite(pin1, HIGH); // on
  107. digitalWrite(pin2, LOW); // off
  108. digitalWrite(pin3, LOW); // off
  109. digitalWrite(pin4, HIGH); // on
  110. delay(10); // waits for a second
  111. }
  113. blink();
  115. for (int i=0; i<6; i++)
  116. {
  118. digitalWrite(pin1, HIGH); // on
  119. digitalWrite(pin2, LOW); // off
  120. digitalWrite(pin3, LOW); // off
  121. digitalWrite(pin4, HIGH); // on
  122. delay(10); // waits for a second
  124. digitalWrite(pin1, LOW); // off
  125. digitalWrite(pin2, HIGH); // on
  126. digitalWrite(pin3, LOW); // off
  127. digitalWrite(pin4, HIGH); // on
  128. delay(10); // waits for a second
  130. digitalWrite(pin1, LOW); // off
  131. digitalWrite(pin2, HIGH); // on
  132. digitalWrite(pin3, HIGH); // on
  133. digitalWrite(pin4, LOW); // off
  134. delay(10); // waits for a second
  136. digitalWrite(pin1, HIGH); // on
  137. digitalWrite(pin2, LOW); // off
  138. digitalWrite(pin3, HIGH); // on
  139. digitalWrite(pin4, LOW); // off
  140. delay(10); // waits for a second
  141. }
  143. blink();
  145. }
  147. void blink()
  148. {
  149. digitalWrite(ledpin, HIGH); // on
  150. delay(1000); // waits for a second
  151. digitalWrite(ledpin, LOW); // off
  152. }
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