Attuatore per motore passo-passo bipolare con scheda Arduino e driver L298

http://www.cumacini.altervista.org/Sistemi/Motore_passo_passo.pdf

https://www.itisfermi.edu.it/biblioteca/wp-content/uploads/2017/05/I-MOTORI-PASSO-PASSO.pdf

	Two Phase-On
	HALF STEP

Datasheet L298

int Step=0;

void setup()
{
  
  DDRD  = B00111110;  // sets Arduino pins 1 to 7 as outputs, pin 0 as input
  PORTD = B00000010;
}

byte Passi[]={B00101010,  // 1010 +D -C +B -A
              B00011010,  // 0110 -D +C +B -A
              B00010110,  // 0101 -D +C -B +A
              B00100110}; // 1001 +D -C -B +A

void StepOut(int thisStep)
{
    PORTD = Passi[thisStep];
}

void DoStep(boolean fb)
{
  if (fb)
  {
    Step++;
    if (Step>3)
      Step=0;
  }  
  else
  {
    Step--; 
    if (Step<0)
      Step=3;
  }    
  StepOut(Step);
}

void loop()
{
  DoStep(true);
  delay(10);
}

Servomotore passo passo

#define motor_pin_1 2
#define motor_pin_2 3
#define motor_pin_3 4
#define motor_pin_4 5

int Step=0;
int previous = 0;

void setup()
{
  
  DDRD  = B00111110;  // sets Arduino pins 1 to 7 as outputs, pin 0 as input
  PORTD = B00000010;
}

byte Passi[]={B00101010,  // 1010 +D -C +B -A
              B00011010,  // 0110 -D +C +B -A
              B00010110,  // 0101 -D +C -B +A
              B00100110}; // 1001 +D -C -B +A

void StepOut(int thisStep)
{
    PORTD = Passi[thisStep];
}

void DoStep(boolean fb)
{
  if (fb)
  {
    Step++;
    if (Step>3)
      Step=0;
  }  
  else
  {
    Step--; 
    if (Step<0)
      Step=3;
  }    
  StepOut(Step);
}

void Passi(int p)
{
  int n;
  boolean f;
  f=p>=0;
  p=abs(p);
  for (n=1;n<=p;n++)
  {
    DoStep(f);
    delay(10);
  } 
}


void loop()
{
  int val = analogRead(0);

  // move a number of steps equal to the change in the
  // sensor reading
  Passi(val - previous);

  // remember the previous value of the sensor
  previous = val;
}