IoT 아두이노 0630 - EX-HD1

#include <MsTimer2.h>

int sw[5] ={2,3,4,5,6};
int pin_STEP[8] = {8, 9, 10, 11};
int pin_STEP2[8] = {11, 10, 9, 8};
int sp=1000, ip_sw=0 ;

void setup() {
  int i;
  for(i=0; i<5; i++)
    pinMode(sw[i],INPUT_PULLUP);
  for(i=0;i<4;i++)
    pinMode(pin_STEP[i], OUTPUT);
  STEP_out(0xF);
  MsTimer2::set(7, STEP_ISR);
  MsTimer2::start();

}

void loop() {
  //루프따위는 장식입니다.
}

void STEP_out(uint8_t da){
  if (digitalRead(sw[0]) == HIGH) {if(sp>0)sp-=100;}           //SPEED UP
    else if (digitalRead(sw[1]) == HIGH) {if(sp<10000)sp+=100;}//SPEED DOWN
    else if(digitalRead(sw[2]) == HIGH) ip_sw = 2;             //LEFT
    else if(digitalRead(sw[3]) == HIGH) ip_sw = 1;             //RIGHT
  if(ip_sw==1){for(int i=0; i<4; i++){digitalWrite(pin_STEP[i], (da>>i)&0x01);}}
  else if(ip_sw==2){for(int i=0; i<4; i++){digitalWrite(pin_STEP2[i], (da>>i)&0x01);}}

}

void STEP_ISR(void)
{
  static int i=0;
  STEP_out (0x0F);
  STEP_out(~(0x01<<i));
  delay(sp);
  if(i == 3){i=0;}
  else{i++;}
}