#include <AccelStepper.h> // include AccelStepper library
int blue = 12; // coil activation order on ULN2003
int pink = 11; // blue, pink, yellow, orange
int yellow = 10;
int orange = 9;
int fullstep = 4; // number of coil activation stages
int halfstep = 8; // with full-step and half-step
int coil = fullstep; // set number of coil activation stages
// associate stepper with AccelStepper library and coil pairing order
AccelStepper stepper(coil, blue, yellow, pink, orange);
int stepperTarget = 500; // initial position for stepper motor
int stepperChange = 200; // number of steps to move stepper motor
int CLKpin= A0; // rotary encoder pin A
int DTpin= A1; // and pin B
int SWpin= A2 ; // switch pin
int rotate = 0; // number of rotary encoder turns
int oldA = HIGH; // status of pin A
int direct = 1; // direction of rotation
int LEDpin = 6; // LED on PWM pin
int bright = 60; // initial LED value
int fade = 25; // amount to change LED
int change, result, newA, newB;
void setup()
{
Serial.begin(9600); // define Serial output baud rate
pinMode(SWpin, INPUT_PULLUP); // switch pin uses internal pull-up resistor
stepper.setMaxSpeed(700); // maximum speed of stepper motor
stepper.setAcceleration(600); // acceleration rate (steps/s2)
}
void loop()
{
if(digitalRead(SWpin) == LOW)
{
stepperTarget = 0; // switch repositions stepper motor
bright = 0; // and turns off the LED
}
change = encoder(); // determine direction of rotary encoder
rotate = rotate + abs(change); // number of rotary encoder turns
// move stepper motor to new position
stepperTarget = stepperTarget + change * stepperChange;
stepperTarget = constrain(stepperTarget, 0, 2037); // constrain position
bright = bright + change*fade; // change LED brightness
bright = constrain(bright, 0, 25 5); // constrain LED brightness
if(change != 0)
{
Serial.print(rotate);Serial.pr int("\t"); // display rotary turn number
Serial.print(bright);Serial.pr int("\t"); // display LED brightness
Serial.println(stepperTarget); // and new target position
}
analogWrite(LEDpin, bright); // update LED brightness
stepper.moveTo(direct*stepperTarget/2); // move to target position
if (stepper.distanceToGo() == 0) direct=-direct; // reverse direction
stepper.run(); // move stepper motor
}
int encoder() // function to determine direction
{
result = 0;
newA = digitalRead(CLKpin); // state of (CLK) pin A
newB = digitalRead(DTpin); // state of (DT) pin B
// falling edge on (CLK) pin A
if (oldA == HIGH && newA == LOW) result = 2*newB - 1;
oldA = newA; // update state of (CLK) pin A
return result;
}