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/*
  Stepper Motor Demonstration 1
  Stepper-Demo1.ino
  Demonstrates 28BYJ-48 Unipolar Stepper with ULN2003 Driver
  Uses Arduino Stepper Library
 
  DroneBot Workshop 2018
  https://dronebotworkshop.com
*/
 
//Include the Arduino Stepper Library
#include <Stepper.h>
 
// Define Constants
 
// Number of steps per internal motor revolution 
const float STEPS_PER_REV = 32; 
 
//  Amount of Gear Reduction
const float GEAR_RED = 64;
 
// Number of steps per geared output rotation
const float STEPS_PER_OUT_REV = STEPS_PER_REV * GEAR_RED;
 
// Define Variables
 
// Number of Steps Required
int StepsRequired;
 
// Create Instance of Stepper Class
// Specify Pins used for motor coils
// The pins used are 8,9,10,11 
// Connected to ULN2003 Motor Driver In1, In2, In3, In4 
// Pins entered in sequence 1-3-2-4 for proper step sequencing
 
Stepper steppermotor(STEPS_PER_REV, 8, 10, 9, 11);
 
void setup()
{
// Nothing  (Stepper Library sets pins as outputs)
}
 
void loop()
{
  // Slow - 4-step CW sequence to observe lights on driver board
  steppermotor.setSpeed(1);    
  StepsRequired  =  4;
  steppermotor.step(StepsRequired);
  delay(2000);
 
   // Rotate CW 1/2 turn slowly
  StepsRequired  =  STEPS_PER_OUT_REV / 2; 
  steppermotor.setSpeed(100);   
  steppermotor.step(StepsRequired);
  delay(1000);
  
  // Rotate CCW 1/2 turn quickly
  StepsRequired  =  - STEPS_PER_OUT_REV / 2;   
  steppermotor.setSpeed(700);  
  steppermotor.step(StepsRequired);
  delay(2000);
 
}