ARDUINO TIMER INTERRUPT STEPPER MOTOR FULL
ARDUINO TIMER INTERRUPT STEPPER MOTOR CODE

The greater the value the slower the starting speed when the acceleration is used. The motor is like a car - you can't accelerate from 0 to 120 Km/h in an instant nor decelerate that fast without problems.ĪCCELERATION_STARTING_SPEED - in microseconds. Useful when you have a heavy load or you want to reach a certain high speed. By setting these to constants to 20, the first 200 steps will be used to accelerate to the desired speed.

Lets say you want for the motor to make 1000 steps. If you don't need acceleration, deceleration set this to 0 to save space and ISR time execution.ĪCCELERATION and DECELERATION - in percents from 0 to 100. HALF_STEP_THRESHOLD 500 - under 500 us 1/2 step will be used

ARDUINO TIMER INTERRUPT STEPPER MOTOR FULL

FULL_STEP_THRESHOLD 200 - speeds under 200 microseconds will use full step

ARDUINO TIMER INTERRUPT STEPPER MOTOR CODE

MICROSTEPPING TIME THRESHOLD - since the code selects the step resolution based on the delay between steps you can tweak the threshold values in microseconds. If you only care about the number of steps and not the time taken, set this to 0 to save space. If this is set to 1 it will be corrected. IMPROVE_TIME_PRECISION - sometimes the delay between steps (the motor speed) will result in a fraction. USE_stepperRotateToDegree - the function is descibed bellow. This will allow using smaller delays between steps at a higher microstepping resolution.

MICROSTEPPING_DIVIDE_TIME - if total duration of spinning doesn't matter, set this to 0. USE_MICROSTEPPING - if you don't need microstepping set this to 0. If you use Arduino to compile this code, choose Timer1 like so: USE_TIMER1 1 because Arduino is using Timer0 for millis and other functions and could interfere with this code. USE_TIMER0 and USE_TIMER1 - put 1 to the one you want to use and 0 to the rest. Usually 1.8 for 200 steps per rotation or 0.9 ************************************************************* SETUP FOR USER **************************************************************/ /////////////////// DIGITAL CONTROL PINS SETUP /* Step Pin */ #define STEP_DDR DDRD #define STEP_PORT PORTD #define STEP_PIN PD0 /* Direction Pin (Optional) */ #define USE_DIRECTION_PIN 1 #define DIR_DDR DDRD #define DIR_PORT PORTD #define DIR_PIN PD1 /* Enable Pin (Optional) */ #define USE_ENABLE_PIN 1 #define ENABLE_DDR DDRD #define ENABLE_PORT PORTD #define ENABLE_PIN PD6 /* Sleep Pin (Optional) */ #define USE_SLEEP_PIN 1 #define SLEEP_DDR DDRB #define SLEEP_PORT PORTB #define SLEEP_PIN PB2 /* Reset Pin (Optional) */ #define USE_RESET_PIN 1 #define RESET_DDR DDRC #define RESET_PORT PORTC #define RESET_PIN PC5

Arduino timer interrupt stepper motor