# Untitled

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Feb 10th, 2016
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1. MakeStepX(int direction, long stepPause){
2. StepX += direction;
3.
4. if(StepX &gt; 3){
5. StepX = 0;
6. }
7. if(StepX &lt; 0){
8. StepX = 3;
9. }
10.
11. //You might have to swap the sequence of steps!!!
12. //If your motor doesn&#039;t rotate as expected, try:
13. // StepX == 0 StepX == 1 StepX == 2 StepX == 3
14. // 1 0 0 0 0 0 0 1 0 1 0 0 0 0 1 0
15. // or:
16. // StepX == 0 StepX == 1 StepX == 2 StepX == 3
17. // 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1
18. // or:
19. // StepX == 0 StepX == 1 StepX == 2 StepX == 3
20. // 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1
21. // or:
22. // StepX == 0 StepX == 1 StepX == 2 StepX == 3
23. // 1 0 0 0 0 1 0 0 0 0 0 1 0 0 1 0
24.
25. if(StepX == 0){
26. digitalWrite(X_STEPPER01, 1);
27. digitalWrite(X_STEPPER02, 0);
28. digitalWrite(X_STEPPER03, 0);
29. digitalWrite(X_STEPPER04, 0);
30. }
31. if(StepX == 1){
32. digitalWrite(X_STEPPER01, 0);
33. digitalWrite(X_STEPPER02, 0);
34. digitalWrite(X_STEPPER03, 1);
35. digitalWrite(X_STEPPER04, 0);
36. }
37. if(StepX == 2){
38. digitalWrite(X_STEPPER01, 0);
39. digitalWrite(X_STEPPER02, 1);
40. digitalWrite(X_STEPPER03, 0);
41. digitalWrite(X_STEPPER04, 0);
42. }
43. if(StepX == 3){
44. digitalWrite(X_STEPPER01, 0);
45. digitalWrite(X_STEPPER02, 0);
46. digitalWrite(X_STEPPER03, 0);
47. digitalWrite(X_STEPPER04, 1);
48. }
49.
50. usleep(stepPause);
51. }