Program :
//diy ALC
//steps = Number of steps in One Revolution * Gear ratio .
//steps= (360°/5.625°)*64"Gear ratio" = 64 * 64 =4096
#define IN1 8
#define IN2 9
#define IN3 10
#define IN4 11
int Steps = 0;
boolean Direction = true;// gre
unsigned long last_time;
unsigned long currentMillis ;
int steps_left = 4095;
long time;
void setup()
{
Serial.begin(9600);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
// delay(1000);
}
void loop()
{
if (Direction == true)Serial.println("Berlawanan Arah Jarum Jam");
else Serial.println("Searah Jarum Jam");
while (steps_left > 0) {
currentMillis = micros();
if (currentMillis - last_time >= 1000) {
stepper(1);
time = time + micros() - last_time;
last_time = micros();
steps_left--;
}
}
//Serial.println(time);
Serial.println("Wait...!");
delay(2000);
Direction = !Direction;
steps_left = 4095;
}
void stepper(int xw) {
for (int x = 0; x < xw; x++) {
switch (Steps) {
case 0:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
break;
case 1:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, HIGH);
break;
case 2:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
break;
case 3:
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
break;
case 4:
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
case 5:
digitalWrite(IN1, HIGH);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
case 6:
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
case 7:
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
break;
default:
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
break;
}
SetDirection();
}
}
void SetDirection() {
if (Direction == 1) {
Steps++;
}
if (Direction == 0) {
Steps--;
}
if (Steps > 7) {
Steps = 0;
}
if (Steps < 0) {
Steps = 7;
}
}
