How to make motor take single coil full step, dual coil full step and half step?

swanky9155 · September 21, 2022, 2:13am

Using a ULN2003 to drive a stepper motor that takes input from the Arduino mega to a stepper motor. The menu options on whether the motor takes single coil full steps (mode 1), dual coil full steps (mode 2), or half steps (mode 3). I have a feeling I have the wrong idea about making the motor go full step vs half step. Apparently half step is supposed to be the combination of both single and dual coil fullstep. How would I accomplish this? What is the difference between half step, dual coil full step and single coil full step?

#include <Keypad.h>

const byte ROWS = 4; 
const byte COLS = 4; 

char hexaKeys[ROWS][COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};


byte rowPins[ROWS] = {9, 8, 7, 6}; 
byte colPins[COLS] = {5, 4, 3, 2}; 


Keypad customKeypad = Keypad(makeKeymap(hexaKeys), rowPins, colPins, ROWS, COLS); 


#define STEPPER_PIN_1 46
#define STEPPER_PIN_2 47
#define STEPPER_PIN_3 48
#define STEPPER_PIN_4 49

int step_number = 0;

bool motorDirec = true; // controls direction of motor

int rate = 100;

char userInput = 'Z';

int maxSteps = 3;

int mode = 1;


void setup() {

  Serial.begin(9600);
  
  pinMode(STEPPER_PIN_1, OUTPUT);
  pinMode(STEPPER_PIN_2, OUTPUT);
  pinMode(STEPPER_PIN_3, OUTPUT);
  pinMode(STEPPER_PIN_4, OUTPUT);

}

void loop() {

  if( mode == 1)
  {
    singleStep();
    delay(rate);
  }
  else if( mode == 2)
  {
    dualStep();
    delay(rate);
  }
  else if(mode == 3)
  {
    singleStep();
    delay(rate);
    dualStep();
  }

  char customKey = customKeypad.getKey();

  if(customKey)
  {
    userInput = customKey;
    menu(userInput); //user selects how they want to manipulate stepper motor 
  }
  
}

void singleStep() //single coil full step
{
   if(motorDirec == true)
   {
    switch(step_number)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;     
    }
   }
   else
   {
    switch(step_number)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;     
    }    
   }

  step_number++; 

  if(step_number > 3)
  {
    step_number = 0;
  }
  
}

void dualStep() //Dual coil full step
{
   if(motorDirec == true)
   {
    switch(step_number)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;  
      case 4:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 5:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 6:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 7:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);    
        break;
    }
   }
   else
   {
    switch(step_number)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;  
      case 4:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 5:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 6:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 7:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;    
    }    
   }

  step_number++; 

  if(step_number > 7)
  {
    step_number = 0;
  }
  
}


void menu(char userInput) // menu allows for appropriate selections
{

  switch(userInput)
  {
    case 'A':
      motorDirec = true;
      Serial.println("Changing to clock-wise direction");
      break;
    case 'B':
      motorDirec = false;
      Serial.println("Chaning to counter clock-wise direction");
     break;
    case 'C':
      if(rate < 1000)
      {
        rate++;
        Serial.println("Decreasing number of steps per second!!");
      }
      else 
      {
        Serial.println("1000 limit has been reached!!!!");
      }
     break;
    case 'D':
      if(rate > 1)
      {
        rate--; 
        Serial.println("Increasing number of steps per second!");
      }
      else 
      {
        Serial.println("1 limit has been reached!!!!"); 
      }
     break;
    case '1':
      Serial.println("Now entering mode 1");
      mode = 1;
      break;
    case '2':
      Serial.println("Now entering mode 2");
      mode = 2;
      break;
    case '3':
      Serial.println("Now entering mode 3");
      mode = 3;
      break;
  }  
}

DrDiettrich · September 21, 2022, 7:03am

Where did you find these modes described?

Your code does not make anything meaningful. singleStep() and dualStep() by themselves only differ in stepper speed. In combination the step_number is reset by singleStep() so that only half of the dualStep() code is used.

You better start from this page.

swanky9155 · September 21, 2022, 7:35pm

Actually, I figured it out. I just adjusted my cases to match the excitement states on the diagram from the website you gave me. Using a library does not give me as much control as I want from the stepper motor.

Here is now what I have below........

#include <Keypad.h>

const byte ROWS = 4; 
const byte COLS = 4; 

char hexaKeys[ROWS][COLS] = {
  {'1', '2', '3', 'A'},
  {'4', '5', '6', 'B'},
  {'7', '8', '9', 'C'},
  {'*', '0', '#', 'D'}
};


byte rowPins[ROWS] = {9, 8, 7, 6}; 
byte colPins[COLS] = {5, 4, 3, 2}; 


Keypad customKeypad = Keypad(makeKeymap(hexaKeys), rowPins, colPins, ROWS, COLS); 


#define STEPPER_PIN_1 46
#define STEPPER_PIN_2 47
#define STEPPER_PIN_3 48
#define STEPPER_PIN_4 49

int step_number = 0;

int step_number2 = 0;

int step_number3 = 0;

bool motorDirec = true;

int rate = 100;

char userInput = 'Z';

int maxSteps = 3;

int mode = 1;


void setup() {

  Serial.begin(9600);
  
  pinMode(STEPPER_PIN_1, OUTPUT);
  pinMode(STEPPER_PIN_2, OUTPUT);
  pinMode(STEPPER_PIN_3, OUTPUT);
  pinMode(STEPPER_PIN_4, OUTPUT);

}

void loop() {

  if( mode == 1)
  {
    singleCoil();
    delay(rate);
  }
  else if( mode == 2)
  {
    doubleCoil();
    delay(rate);
  }
  else if(mode == 3)
  {
    halfStep();
    delay(rate);
  }

  char customKey = customKeypad.getKey();

  if(customKey)
  {
    userInput = customKey;
    menu(userInput);
  }
  
}
//**************************************
// Code block for single coil full step
//
//*************************************
void singleCoil()
{
   if(motorDirec == true)
   {
    switch(step_number)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;     
    }
   }
   else
   {
    switch(step_number)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;     
    }    
   }

  step_number++; 

  if(step_number > 3)
  {
    step_number = 0;
  }
  
}


//************************************************
//
//Code for double coil full step 
//
//
//************************************************

void doubleCoil()
{
   if(motorDirec == true)
   {
    switch(step_number2)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);    
        break;     
    }
   }
   else
   {
    switch(step_number2)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);    
        break;     
    }    
   }

  step_number2++; 

  if(step_number2 > 3)
  {
    step_number2 = 0;
  }
  
}


//*************************************************
//
//Code for half step 
//
//*************************************************
void halfStep()
{
   if(motorDirec == true)
   {
    switch(step_number3)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;  
      case 4:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);
        break; 
      case 5:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 6:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 7:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);    
        break;
    }
   }
   else
   {
    switch(step_number3)
    {
      case 0:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);       
        break; 
      case 1:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 2:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, HIGH);
        break;
      case 3:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;  
      case 4:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, HIGH);
        digitalWrite(STEPPER_PIN_4, LOW);  
        break; 
      case 5:
        digitalWrite(STEPPER_PIN_1, LOW); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);  
        break;
      case 6:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, HIGH);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);
        break;
      case 7:
        digitalWrite(STEPPER_PIN_1, HIGH); 
        digitalWrite(STEPPER_PIN_2, LOW);
        digitalWrite(STEPPER_PIN_3, LOW);
        digitalWrite(STEPPER_PIN_4, LOW);    
        break;    
    }    
   }

  step_number3++; 

  if(step_number3 > 7)
  {
    step_number3 = 0;
  }
  
}


void menu(char userInput)
{

  switch(userInput)
  {
    case 'A':
      motorDirec = true;
      Serial.println("Changing to clock-wise direction");
      //loop();
      break;
    case 'B':
      motorDirec = false;
      Serial.println("Chaning to counter clock-wise direction");
      //loop();
     break;
    case 'C':
      if(rate < 1000)
      {
        rate++;
        Serial.println("Decreasing number of steps per second!!");
      }
      else 
      {
        Serial.println("1000 limit has been reached!!!!");
      }
     break;
    case 'D':
      if(rate > 1)
      {
        rate--; 
        Serial.println("Increasing number of steps per second!");
      }
      else 
      {
        Serial.println("1 limit has been reached!!!!"); 
      }
     break;
    case '1':
      Serial.println("Now entering mode 1");
      mode = 1;
      break;
    case '2':
      Serial.println("Now entering mode 2");
      mode = 2;
      break;
    case '3':
      Serial.println("Now entering mode 3");
      mode = 3;
      break;
  }  
}

system · March 20, 2023, 7:36pm

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How to make motor take single coil full step, dual coil full step and half step?

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