Differences

This shows you the differences between two versions of the page.

--- projects:steppermotor [2013/01/06 12:44]
elger
+++ projects:steppermotor [2016/11/16 13:06]
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-====== Steppermotor controlled by Arduino ======
-This is a short how-to on controlling a bipolar stepper motor by an Arduino and a L298N based dual H-bridge controller board.
-For a long time I thought about playing around with a stepper motor. The goal for this page is not to explain what a stepper motor is, but to document for myself What I did so I can reproduce the results at a later time.
-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>