I watched this Youtube video and would like to replicate it:
https://www.youtube.com/watch?v=d-IKDQ5vqnU&t=0s
It's a video that teaches how to drive a bipolar stepper motor with DRV8825. Here's the code I found in the description:
const int stepPin = 2;//only works on this pin right now
const int dirPin = 3;
const int actPin = 4;//not used
const float motorAngle = 1.8;
const float stepSize = 0.03125;//full=1, half=0.5, quarter=0.25, etc...void stepperRotate(float rotation, float rpm);
void setup() {
// put your setup code here, to run once:
pinMode(stepPin, OUTPUT);
pinMode(dirPin, OUTPUT);
//pinMode(actPin, OUTPUT); hooked to VCC, so no Arduino control
Serial.begin(9600);}
void loop() {
// put your main code here, to run repeatedly:// simple rotation forward then backward:
stepperRotate(1, 100);//rotations, RPM
delay(1000);
stepperRotate(-1, 100);//rotations, RPM
delay(1000);// the acceleration code towards the end of the video:
// for (int i = 200; i <= 500; i = i + 10) {
// stepperRotate(1, i);//rotations, RPM
// }
// stepperRotate(20, 500);//rotations, RPM
// for (int i = 500; i >= 200; i = i - 10) {
// stepperRotate(1, i);//rotations, RPM
// }}
void stepperRotate(float rotation, float rpm) {
if (rotation > 0) {
digitalWrite(dirPin, HIGH);
}
else {
digitalWrite(dirPin, LOW);
rotation = rotation * -1;
}// first figure out how many steps in one rotation, so a motor with 1.8deg per step, equals 360/1.8 = 200 steps/rotation
// then if you're doing half step, that will double, so divide by 0.5, gives 400steps per rotation
float stepsPerRotation = (360.00 / motorAngle) / stepSize;//now we have the steps per rotation, multiply by the rotations for this command to get total steps
float totalSteps = rotation * stepsPerRotation;
//Serial.println(totalSteps); // debug//tricky part here - what is the ON/OFF time of the step pin to get the desired RPM?
// First, what is the seconds per revolution? then we can figure out seconds per step
// RPM (rotation per minute) needs to be converted to MPR, so 1/RPM, then seconds per rotation is 60seconds/RPM
// that gives us Seconds per Rotation, but how many seconds per step? well, we just divide that by the number of steps per rotation
// so now we're at 60/RPM/stepsPerRotation
// this is seconds, but we're going to use microSeconds, so let's multiply by 1 Million (1E6)
// then, we want a 50% duty cycle, half time ON, half time OFF, so divide this value by 2, then we end up with:
unsigned long stepPeriodmicroSec = ((60.0000 / (rpm * stepsPerRotation)) * 1E6 / 2.0000) - 5;//what's up with the -5 at the end? well, in the for loop, we have to compensate for the i++ and i<x check, so 5us is subracted to speed it up a little
//Serial.println(stepPeriodmicroSec);
for (unsigned long i = 0; i < totalSteps; i++) {
PORTD |= (1 << 2);
delayMicroseconds(stepPeriodmicroSec);
PORTD &= ~(1 << 2);
delayMicroseconds(stepPeriodmicroSec);
}}
I'm having a hard time understanding the last portion, the PORTD |= (1 << 2) and PORTD &= ~(1 << 2), how it works and what it does. Googling didn't help.
I'm also wondering what the Serial.begin(9600) does in the setup portion. I don't think I've seen it before and wonder if that's necessary.
Lastly, I want to power the Arduino (Nano), the stepper motor, and the driver from a USB power bank that outputs 5V. This would simplify my design. Is there any concern with my approach?
Thanks
