Need feedback on this code because I am trying to work a Stepper Motor 28BYJ-48 with this code

logancb02 · March 21, 2023, 2:42am

type or paste code here
                                                 Primary
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementationis used in I2Cdev.h
#include "Wire.h"

#include <SoftwareSerial.h>
SoftwareSerial BTSerial(0, 1); // CONNECT BT RX PIN TO ARDUINO 1 PIN | CONNECT BT TX PIN TO ARDUINO 0 PIN

#define OUTPUT_READABLE_YAWPITCHROLL
#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)

MPU6050 mpu;
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
float pitch = 0;
float roll = 0;
float yaw = 0;
int x;
int y;

// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
  mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
  // join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
  Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif

  // initialize serial communication
  // (115200 chosen because it is required for Teapot Demo output, but it's
  // really up to you depending on your project)
  Serial.begin(115200);
  BTSerial.begin(9600);  // HC-05 default speed in AT command more
  
  while (!Serial); // wait for Leonardo enumeration, others continue immediately

  // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
  // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
  // the baud timing being too misaligned with processor ticks. You must use
  // 38400 or slower in these cases, or use some kind of external separate
  // crystal solution for the UART timer.

  // initialize device
  Serial.println(F("Initializing I2C devices..."));
  mpu.initialize();
  pinMode(INTERRUPT_PIN, INPUT);

  // verify connection
  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  // load and configure the DMP
  Serial.println(F("Initializing DMP..."));
  devStatus = mpu.dmpInitialize();

  // supply your own gyro offsets here, scaled for min sensitivity
  mpu.setXGyroOffset(126);
  mpu.setYGyroOffset(57);
  mpu.setZGyroOffset(-69);
  mpu.setZAccelOffset(1869); // 1688 factory default for my test chip

  // make sure it worked (returns 0 if so)
 if (devStatus == 0) {
    // turn on the DMP, now that it's ready
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);

    // enable Arduino interrupt detection
    Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
    mpuIntStatus = mpu.getIntStatus();

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    Serial.println(F("DMP ready! Waiting for first interrupt..."));
    dmpReady = true;

    // get expected DMP packet size for later comparison
    packetSize = mpu.dmpGetFIFOPacketSize();
  } else {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
  }

  // configure LED for output
  pinMode(LED_PIN, OUTPUT);
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
  // if programming failed, don't try to do anything
  if (!dmpReady) return;

  // wait for MPU interrupt or extra packet(s) available
  while (!mpuInterrupt && fifoCount < packetSize) {
    // other program behavior stuff here
    // .
    // .
    // .
    // if you are really paranoid you can frequently test in between other
    // stuff to see if mpuInterrupt is true, and if so, "break;" from the
    // while() loop to immediately process the MPU data
    // .
    // .
    // .
  }

  // reset interrupt flag and get INT_STATUS byte
  mpuInterrupt = false;
  mpuIntStatus = mpu.getIntStatus();

  // get current FIFO count
  fifoCount = mpu.getFIFOCount();

  // check for overflow (this should never happen unless our code is too inefficient)
  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
    // reset so we can continue cleanly
    mpu.resetFIFO();
    Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
  } else if (mpuIntStatus & 0x02) {
    // wait for correct available data length, should be a VERY short wait
    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

    // read a packet from FIFO
    mpu.getFIFOBytes(fifoBuffer, packetSize);

    // track FIFO count here in case there is > 1 packet available
    // (this lets us immediately read more without waiting for an interrupt)
    fifoCount -= packetSize;

#ifdef OUTPUT_READABLE_YAWPITCHROLL
    // display Euler angles in degrees
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

    yaw = ypr[0] * 180 / M_PI;
    pitch = ypr[1] * 180 / M_PI;
    roll = ypr[2] * 180 / M_PI;

    if (roll > -100 && roll < 100)
      x = map (roll, -100, 100, 0, 100);

    if (pitch > -100 && pitch < 100)
      y = map (pitch, -100, 100, 100, 200);

    Serial.print(x);
    Serial.print("\t");
    Serial.println(y);

    if((x>=45 && x<=55) && (y>=145 && y <=155)){
      BTSerial.write('S');
    }else if(x>60){
      BTSerial.write('R');
    }else if(x<40){
      BTSerial.write('L');
    }else if(y>160){
      BTSerial.write('B');
    }else if(y<140){
      BTSerial.write('F');
    }
#endif

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
  }
}

                                                                         Secondary

```#include <SoftwareSerial.h>
SoftwareSerial BTSerial(1, 0); // CONNECT BT RX PIN TO ARDUINO 1 PIN | CONNECT BT TX PIN TO ARDUINO 0 PIN
#include <Stepper.h>
#include "Wire.h"

char tiltDirection;

int STEPPER_Pin_1 = 8;     // IN1 on ULN2003 ==> Blue   on 28BYJ-48
int STEPPER_Pin_2 = 9;    // IN2 on ULN2004 ==> Pink   on 28BYJ-48
int STEPPER_Pin_3 = 10;    // IN3 on ULN2003 ==> Yellow on 28BYJ-48
int STEPPER_Pin_4 = 11;    // IN4 on ULN2003 ==> Orange on 28BYJ-48
const int stepsPerRevolution = 2038;
Stepper myStepper = Stepper(stepsPerRevolution, 8, 10, 9, 11);

void setup() {

  pinMode(STEPPER_Pin_1, OUTPUT);
  pinMode(STEPPER_Pin_2, OUTPUT);
  pinMode(STEPPER_Pin_3, OUTPUT);
  pinMode(STEPPER_Pin_4, OUTPUT);

  digitalWrite(STEPPER_Pin_1, LOW);
  digitalWrite(STEPPER_Pin_2, LOW);
  digitalWrite(STEPPER_Pin_3, LOW);
  digitalWrite(STEPPER_Pin_4, LOW);

  Serial.begin(115200);      // Serial communication is activated at 38400 baud/s.
  BTSerial.begin(9600);    // HC-05 default speed in AT command more
}
//Robot lk
void loop() {
  if (BTSerial.available()) {   // Witing for data incoming from the other XBee module
    tiltDirection = BTSerial.read();
    if(tiltDirection == 'F'){
      Serial.println(" reverse");
       reverse();
   }else if(tiltDirection == 'B'){
      Serial.println("Forward");
      forward();
    //}else if(tiltDirection == 'R'){
    // Serial.println("Left");
     // left();
 // }else if(tiltDirection == 'L'){
     // Serial.println("Right");
      //right();
    //}else if(tiltDirection == 'S'){
     // Serial.println("Stop");
    // stopCar();
    }
  }
}
//Robot lk
void forward()
{
  /*The pin numbers and high, low values might be different depending on your connections */
  digitalWrite(STEPPER_Pin_1, LOW);
  digitalWrite(STEPPER_Pin_2, HIGH);
  digitalWrite(STEPPER_Pin_3, LOW);
  digitalWrite(STEPPER_Pin_4, HIGH);
}
void reverse()
{
  /*The pin numbers and high, low values might be different depending on your connections */
  digitalWrite(STEPPER_Pin_1, HIGH);
 digitalWrite(STEPPER_Pin_2, LOW);
  digitalWrite(STEPPER_Pin_3, HIGH);
  digitalWrite(STEPPER_Pin_4, LOW);
}
//void right()
//{
  /*The pin numbers and high, low values might be different depending on your connections */
// digitalWrite(motorPin1, LOW);
  //digitalWrite(motorPin2, HIGH);
 // digitalWrite(motorPin3, HIGH);
 // digitalWrite(motorPin4, LOW);
//}
//void left()
//{
  /*The pin numbers and high, low values might be different depending on your connections */
  //digitalWrite(motorPin1, HIGH);
  //digitalWrite(motorPin2, LOW);
  //digitalWrite(motorPin3, LOW);
 //digitalWrite(motorPin4, HIGH);
//}

//void stopCar() {
  //digitalWrite(motorPin1, LOW);
  //digitalWrite(motorPin2, LOW);
  //digitalWrite(motorPin3, LOW);
  //digitalWrite(motorPin4, LOW);
//}

sterretje · March 21, 2023, 2:50am

You don't say which Arduino you're using.

Your topic has been moved to a more suitable location on the forum. Installation and Troubleshooting is not for advice on (nor for problems with) your project.

DaveX · March 21, 2023, 2:50am

How does it not work as expected?

logancb02 · March 21, 2023, 2:57am

The way I am trying to use it is jack my two gimbals one primary and one secondary and if I was to spin the primary gimbal the secondary gimbal will react and spin. I am using an Arduino Uno, HC-05, MPU6050, Step Motor 28BYJ-48. My problem is I got this code I found online and it’s for controlling remote control car with your hand and I was wanting to modify it to work for my project but I am stuck on how to modify it. Any feedback will be appreciated.

logancb02 · March 23, 2023, 3:04pm

The problem is when I go to upload this code above my Step Motor 28BYJ-48 will not respond. So that why I need help trying to figure out how to get my step motor 28BYJ-48 responding to my code.

logancb02 · April 4, 2023, 10:04pm

                                                                  Primary

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementationis used in I2Cdev.h
#include "Wire.h"

#include <SoftwareSerial.h>
SoftwareSerial BTSerial(1, 0); // CONNECT BT RX PIN TO ARDUINO 11 PIN | CONNECT BT TX PIN TO ARDUINO 10 PIN

#define OUTPUT_READABLE_YAWPITCHROLL
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)

MPU6050 mpu;
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
float pitch = 0;
float roll = 0;
float yaw = 0;
int x;
int y;

// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}

// ================================================================
// === INITIAL SETUP ===
// ================================================================

void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif

// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
BTSerial.begin(9600); // HC-05 default speed in AT command more

while (!Serial); // wait for Leonardo enumeration, others continue immediately

// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.

// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);

// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(126);
mpu.setYGyroOffset(57);
mpu.setZGyroOffset(-69);
mpu.setZAccelOffset(1869); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);

// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;

// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();

} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}

// configure LED for output
pinMode(LED_PIN, OUTPUT);
}

// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================

void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}

// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();

// get current FIFO count
fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently)

} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);

// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;

#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

yaw = ypr[0] * 180 / M_PI;
pitch = ypr[1] * 180 / M_PI;
roll = ypr[2] * 180 / M_PI;

if (roll > -100 && roll < 100)
  x = map (roll, -100, 100, 0, 100);

if (pitch > -100 && pitch < 100)
  y = map (pitch, -100, 100, 100, 200);

Serial.print(x);
Serial.print("\t");
Serial.println(y);

if((x>=45 && x<=55) && (y>=145 && y <=155)){
  BTSerial.write('S');
}else if(x>60){
  BTSerial.write('R');
}else if(x<40){
  BTSerial.write('L');
}else if(y>160){
  BTSerial.write('B');
}else if(y<140){
  BTSerial.write('F');
}

#endif

// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);

}
}
Secondary
#include <SoftwareSerial.h>
SoftwareSerial BTSerial(11, 10); // CONNECT BT RX PIN TO ARDUINO 11 PIN | CONNECT BT TX PIN TO ARDUINO 10 PIN

char tiltDirection;
int motorInput1 = 5;
int motorInput2 = 6;
int motorInput3 = 7;
int motorInput4 = 8;

void setup() {

pinMode(motorInput1, OUTPUT);
pinMode(motorInput2, OUTPUT);
pinMode(motorInput3, OUTPUT);
pinMode(motorInput4, OUTPUT);

digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, LOW);

Serial.begin(115200); // Serial communication is activated at 38400 baud/s.
BTSerial.begin(9600); // HC-05 default speed in AT command more
}

void loop() {
if (BTSerial.available()) { // Witing for data incoming from the other XBee module
tiltDirection = BTSerial.read();
if(tiltDirection == 'F'){
Serial.println(" reverse");
reverse();
}else if(tiltDirection == 'B'){
Serial.println("Forward");
forward();
}else if(tiltDirection == 'R'){
Serial.println("Left");
left();
}else if(tiltDirection == 'L'){
Serial.println("Right");
right();
}else if(tiltDirection == 'S'){
Serial.println("Stop");
stopCar();
}
}
}

void forward()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}
void reverse()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, HIGH);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, HIGH);
digitalWrite(motorInput4, LOW);
}
void right()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, HIGH);
digitalWrite(motorInput4, LOW);
}
void left()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, HIGH);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}

void stopCar() {
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, LOW);
}

logancb02 · April 4, 2023, 10:04pm

I need help because for the code above is for a dc motor and I need it to work for stepper motor 28byj-48

Railroader · April 5, 2023, 10:46am

Google is a good friend.

logancb02 · April 3, 2023, 4:35pm

_gesture_control_car_receiver.ino (2.6 KB)
_gesture_control_car_transmitter.ino (7.3 KB)

logancb02 · April 3, 2023, 4:40pm

I would like help with my code. I am trying to use a MPU 6050 to control a stepper motor 28BYJ-48 but also using 2 HC-05 of primary and the other secondary. It is for this project I am working on where I have two gimbals and the idea is when I spin one gimbal which has the mpu6050 and HC-05 primary attached it should send the data of movement to the secondary gimbal which has HC-05 secondary and a stepper motor 28BYJ-48 attached. The problem I am having is getting the Stepper motor to respond to my code and input. I am using two Arduino Uno also and I got the code from using hand gestures to control a rc car and I am trying to modify that dc motor receiver to work for a stepper motor.

anon56112670 · April 3, 2023, 5:08pm

Please post your code, in code tags.

This isn't an Introductory tutorial, and did not belong in that forum section.

bidrohini · April 3, 2023, 5:44pm

How far have you proceeded? How is your setup behaving now?

logancb02 · April 4, 2023, 3:06pm

I have not made much progress due to not getting my step motor 28BYJ-48 to respond to my secondary code.

anon56112670 · April 4, 2023, 3:09pm

Please post your code.

StefanL38 · April 4, 2023, 3:35pm

there is a big difference between driving a DC-motor and a stepper-motor.
A DC-motor just needs a single digitalWrite(directionPin,LOW/HIGH)
or maybe in looooong time-intervals (once every 0,5 seconds) a new
analogWrite(myPWM-Pin,dutyCycle);

A stepper-motor needs a new step-pulse with very precise timing once every few milliseconds
once evey 0,002 seconds which is 500 times per second.

depending on the stepper-library you are using this means your code has to execute
very fast or the code is blocking because the code is 101% busy with precise step-pulse creation.

Your smartphone has a 32bit 2 GHz microprocessor which is able to do 100000 times more calculations than an arduino Uno which is a 8 bit 0.016 GHz-microcontroller.
You are reading right: 0.016 GHz - Zero point zero one six GHz.

The etxremely tight and precise timing that a stepper-motor needs is a hard task for an arduino
If the arduino can concentrate on the step-pulse-creation it is doable.
If you want to do more than this things get tough and not everything will be combinable with the step-pulse-creation.

The MobaTools-library will enable to do the step-pulse-creation "in the backround" so that you can execute code that cares about receiving serial data and reading the MPU6050 sensor

This video explains how stepper-motors work

best regards Stefan

logancb02 · April 4, 2023, 3:51pm

                                                       Secondary

#include <SoftwareSerial.h>
SoftwareSerial BTSerial(11, 10); // CONNECT BT RX PIN TO ARDUINO 11 PIN | CONNECT BT TX PIN TO ARDUINO 10 PIN

char tiltDirection;
int motorInput1 = 5;
int motorInput2 = 6;
int motorInput3 = 7;
int motorInput4 = 8;

void setup() {

pinMode(motorInput1, OUTPUT);
pinMode(motorInput2, OUTPUT);
pinMode(motorInput3, OUTPUT);
pinMode(motorInput4, OUTPUT);

digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, LOW);

Serial.begin(115200); // Serial communication is activated at 38400 baud/s.
BTSerial.begin(9600); // HC-05 default speed in AT command more
}

void loop() {
if (BTSerial.available()) { // Witing for data incoming from the other XBee module
tiltDirection = BTSerial.read();
if(tiltDirection == 'F'){
Serial.println(" reverse");
reverse();
}else if(tiltDirection == 'B'){
Serial.println("Forward");
forward();
}else if(tiltDirection == 'R'){
Serial.println("Left");
left();
}else if(tiltDirection == 'L'){
Serial.println("Right");
right();
}else if(tiltDirection == 'S'){
Serial.println("Stop");
stopCar();
}
}
}

void forward()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}
void reverse()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, HIGH);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, HIGH);
digitalWrite(motorInput4, LOW);
}
void right()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, HIGH);
digitalWrite(motorInput3, HIGH);
digitalWrite(motorInput4, LOW);
}
void left()
{
/*The pin numbers and high, low values might be different depending on your connections */
digitalWrite(motorInput1, HIGH);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, HIGH);
}

void stopCar() {
digitalWrite(motorInput1, LOW);
digitalWrite(motorInput2, LOW);
digitalWrite(motorInput3, LOW);
digitalWrite(motorInput4, LOW);
}
Primary
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementationis used in I2Cdev.h
#include "Wire.h"