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- #include <debug.h>
- #include <makros.h>
- #include <RCReceive.h>
- #include <StepperControl.h>
- #include <CheapStepper.h>
- #include <Stepper_28BYJ_48.h>
- #include <Stepper.h>
- // Change this to your PWMPIN ;)
- #define PWM_READ_PIN 3
- // Change these to your MOTOR Pins ;)
- #define MOTOR_PIN1 22
- #define MOTOR_PIN2 23
- #define MOTOR_PIN3 24
- #define MOTOR_PIN4 25
- int SPU = 1024;
- Stepper motor(SPU, MOTOR_PIN1, MOTOR_PIN2, MOTOR_PIN3, MOTOR_PIN4);
- // setup() wird einmal zu Programmbeginn ausgeführt
- void setup()
- {
- // Setup PWM stuff
- pinMode(PWM_READ_PIN, INPUT);
- // Setup stepper
- motor.setSpeed(2);
- // Serielle Kommunikation starten
- Serial.begin(9600);
- }
- // loop() wird endlos wiederholt
- void loop()
- {
- // Read PWM stuff
- int v = pulseIn(PWM_READ_PIN, HIGH, 25000);
- // links: 850
- // neutral: 1460
- // rechts: 2015
- int neutral = 1460;
- int puffer = 100;
- int steps = 10;
- if ( v < ( neutral-puffer ) )
- {
- motor.step( steps );
- }
- if ( v > ( neutral+puffer ) )
- {
- motor.step( -steps );
- }
- // Kurze Pause, damit der Servo die neue Position anfahren kann
- delay(50);
- }
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