-- Stepper Motor ULN2003 CONTROL

-- Declare variable for the motor pins

motorINT1 = 5

motorINT2 = 6

motorINT3 = 7

motorINT4 = 8

motorSpeed = 1000 -- Speed

count = 0 -- count for step made

countsperrev = 512 -- no of step per full revolution

lookup = {B01000,

B01100,

B00100,

B00110,

B00010,

B00011,

B00001,

B01001}

-- INITIAL 74HC4051 OUTPUT PIN --------

gpio.mode(motorINT1, gpio.OUTPUT)

gpio.mode(motorINT2, gpio.OUTPUT)

gpio.mode(motorINT3, gpio.OUTPUT)

gpio.mode(motorINT4, gpio.OUTPUT)

function anticlockwise()

for i = 0, 7 do

setOutput(i);

tmr.delay(motorSpeed);

end

end

function clockwise()

for i = 7, 0, -1 do

setOutput(i);

tmr.delay(motorSpeed);

end

end

--function setOutput(out)

-- gpio.write(motorPin1, bit.isset(lookup[out], 0))

--digitalWrite(motorPin1, bitRead(lookup[out], 0));

--digitalWrite(motorPin2, bitRead(lookup[out], 1));

--digitalWrite(motorPin3, bitRead(lookup[out], 2));

--digitalWrite(motorPin4, bitRead(lookup[out], 3));

--end

-- 74HC4051 - set Address -------------

function setOutput(addressX)

gpio.write(motorINT1, gpio.LOW)

gpio.write(motorINT2, gpio.LOW)

gpio.write(motorINT3, gpio.LOW)

gpio.write(motorINT4, gpio.LOW)

if addressX == 0 or addressX == 1 or

addressX == 7 then

gpio.write(motorINT1, gpio.HIGH)

end

if (addressX == 2 or addressX == 3 or

addressX == 1) then

gpio.write(motorINT2, gpio.HIGH)

end

if (addressX == 4 or addressX == 3 or

addressX == 5) then

gpio.write(motorINT3, gpio.HIGH)

end

if (addressX == 6 or

addressX == 5 or addressX == 7) then

gpio.write(motorINT4, gpio.HIGH)

end

end

--direction 0 = clockwise 1 = anticlockwise

function loopTest(nofCycle, direction)

print("Start Stepper Motor Cycle : " .. nofCycle)

for i = 0, nofCycle, 1 do

if(count < countsperrev ) then

clockwise();

else

anticlockwise();

end

count = count + 1;

if (count >= countsperrev * 2) then

count = 0;

end

end

print("....... Stop Stepper Motor .....")

end

function moveStep(direction, nofMove)

if(direction == 0 ) then

print("Move : Clockwise - Steps " .. nofMove .. " [512 / Cycle]")

else

print("Move : Anti-Clockwise - Steps " .. nofMove .. " [512 / Cycle]")

end

for i = 0, nofMove, 1 do

if(direction == 0 ) then

clockwise();

else

anticlockwise();

end

end

end

--loopTest(10 * countsperrev)

moveStep(0, 256)

moveStep(1, 256)