電路及程式

步進馬達驅動需要較大電流，可用2D掃瞄器的驅動IC及電源，故將UNO的控制信號加在驅動IC的信號輸入端可

UNO程式如下

const int motorPin1 = 11;     

const int motorPin2 = 10;     

const int motorPin3 = 13;     

const int motorPin4 = 12;     

                               

int motorSpeed=1000;            // set stepper speed

float err=0;

void setup() {

  pinMode(motorPin1, OUTPUT);

  pinMode(motorPin2, OUTPUT);

  pinMode(motorPin3, OUTPUT);

  pinMode(motorPin4, OUTPUT);

}

void loop(){

 for(int i=0;i<2;i++) cw();

 delay(1000); 

}

//////////////////////////////////////////////////////////////////////////////

//set pins to ULN2003 high in sequence from 1 to 4

void ccw (){

  // 1

  digitalWrite(motorPin1, HIGH);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin4, LOW);

  delayMicroseconds(motorSpeed);

  // 2

  digitalWrite(motorPin1, HIGH);

  digitalWrite(motorPin2, HIGH);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin4, LOW);

  delayMicroseconds(motorSpeed);

  // 3

  digitalWrite(motorPin1, LOW);

  digitalWrite(motorPin2, HIGH);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin4, LOW);

  delayMicroseconds(motorSpeed);

  // 4

  digitalWrite(motorPin1, LOW);

  digitalWrite(motorPin2, HIGH);

  digitalWrite(motorPin3, HIGH);

  digitalWrite(motorPin4, LOW);

  delayMicroseconds(motorSpeed);

  // 5

  digitalWrite(motorPin1, LOW);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin3, HIGH);

  digitalWrite(motorPin4, LOW);

  delayMicroseconds(motorSpeed);

  // 6

  digitalWrite(motorPin1, LOW);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin3, HIGH);

  digitalWrite(motorPin4, HIGH);

  delayMicroseconds(motorSpeed);

  // 7

  digitalWrite(motorPin1, LOW);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin4, HIGH);

  delayMicroseconds(motorSpeed);

  // 8

  digitalWrite(motorPin1, HIGH);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin4, HIGH);

  delayMicroseconds(motorSpeed);

}

//////////////////////////////////////////////////////////////////////////////

//set pins to ULN2003 high in sequence from 4 to 1

void cw(){

  // 1

  digitalWrite(motorPin4, HIGH);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin1, LOW);

  delayMicroseconds(motorSpeed);

  // 2

  digitalWrite(motorPin4, HIGH);

  digitalWrite(motorPin3, HIGH);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin1, LOW);

  delayMicroseconds(motorSpeed);

  // 3

  digitalWrite(motorPin4, LOW);

  digitalWrite(motorPin3, HIGH);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin1, LOW);

  delayMicroseconds(motorSpeed);

  // 4

  digitalWrite(motorPin4, LOW);

  digitalWrite(motorPin3, HIGH);

  digitalWrite(motorPin2, HIGH);

  digitalWrite(motorPin1, LOW);

  delayMicroseconds(motorSpeed);

  // 5

  digitalWrite(motorPin4, LOW);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin2, HIGH);

  digitalWrite(motorPin1, LOW);

  delayMicroseconds(motorSpeed);

  // 6

  digitalWrite(motorPin4, LOW);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin2, HIGH);

  digitalWrite(motorPin1, HIGH);

  delayMicroseconds(motorSpeed);

  // 7

  digitalWrite(motorPin4, LOW);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin1, HIGH);

  delayMicroseconds(motorSpeed);

  // 8

  digitalWrite(motorPin4, HIGH);

  digitalWrite(motorPin3, LOW);

  digitalWrite(motorPin2, LOW);

  digitalWrite(motorPin1, HIGH);

  delayMicroseconds(motorSpeed);

}