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