You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
76 lines
2.1 KiB
76 lines
2.1 KiB
7 years ago
|
/*
|
||
|
|
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
|
||
|
|
It won't work with v1.x motor shields! Only for the v2's with built in PWM
|
||
|
|
control
|
||
|
|
|
||
|
|
For use with the Adafruit Motor Shield v2
|
||
|
|
----> http://www.adafruit.com/products/1438
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <Wire.h>
|
||
|
|
#include <Adafruit_MotorShield.h>
|
||
|
|
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||
|
|
|
||
|
|
Adafruit_MotorShield AFMSbot(0x61); // Rightmost jumper closed
|
||
|
|
Adafruit_MotorShield AFMStop(0x60); // Default address, no jumpers
|
||
|
|
|
||
|
|
// On the top shield, connect two steppers, each with 200 steps
|
||
|
|
Adafruit_StepperMotor *myStepper2 = AFMStop.getStepper(200, 1);
|
||
|
|
Adafruit_StepperMotor *myStepper3 = AFMStop.getStepper(200, 2);
|
||
|
|
|
||
|
|
// On the bottom shield connect a stepper to port M3/M4 with 200 steps
|
||
|
|
Adafruit_StepperMotor *myStepper1 = AFMSbot.getStepper(200, 2);
|
||
|
|
// And a DC Motor to port M1
|
||
|
|
Adafruit_DCMotor *myMotor1 = AFMSbot.getMotor(1);
|
||
|
|
|
||
|
|
void setup() {
|
||
|
|
while (!Serial);
|
||
|
|
Serial.begin(9600); // set up Serial library at 9600 bps
|
||
|
|
Serial.println("MMMMotor party!");
|
||
|
|
|
||
|
|
AFMSbot.begin(); // Start the bottom shield
|
||
|
|
AFMStop.begin(); // Start the top shield
|
||
|
|
|
||
|
|
// turn on the DC motor
|
||
|
|
myMotor1->setSpeed(200);
|
||
|
|
myMotor1->run(RELEASE);
|
||
|
|
}
|
||
|
|
|
||
|
|
int i;
|
||
|
|
void loop() {
|
||
|
|
myMotor1->run(FORWARD);
|
||
|
|
|
||
|
|
for (i=0; i<255; i++) {
|
||
|
|
myMotor1->setSpeed(i);
|
||
|
|
myStepper1->onestep(FORWARD, INTERLEAVE);
|
||
|
|
myStepper2->onestep(BACKWARD, DOUBLE);
|
||
|
|
myStepper3->onestep(FORWARD, MICROSTEP);
|
||
|
|
delay(3);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (i=255; i!=0; i--) {
|
||
|
|
myMotor1->setSpeed(i);
|
||
|
|
myStepper1->onestep(BACKWARD, INTERLEAVE);
|
||
|
|
myStepper2->onestep(FORWARD, DOUBLE);
|
||
|
|
myStepper3->onestep(BACKWARD, MICROSTEP);
|
||
|
|
delay(3);
|
||
|
|
}
|
||
|
|
|
||
|
|
myMotor1->run(BACKWARD);
|
||
|
|
|
||
|
|
for (i=0; i<255; i++) {
|
||
|
|
myMotor1->setSpeed(i);
|
||
|
|
myStepper1->onestep(FORWARD, DOUBLE);
|
||
|
|
myStepper2->onestep(BACKWARD, INTERLEAVE);
|
||
|
|
myStepper3->onestep(FORWARD, MICROSTEP);
|
||
|
|
delay(3);
|
||
|
|
}
|
||
|
|
|
||
|
|
for (i=255; i!=0; i--) {
|
||
|
|
myMotor1->setSpeed(i);
|
||
|
|
myStepper1->onestep(BACKWARD, DOUBLE);
|
||
|
|
myStepper2->onestep(FORWARD, INTERLEAVE);
|
||
|
|
myStepper3->onestep(BACKWARD, MICROSTEP);
|
||
|
|
delay(3);
|
||
|
|
}
|
||
|
|
}
|