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- #include <Stepper.h>
- #include <time.h>
- #define GOT_HERE() do {Serial.print('['); Serial.print(__LINE__); Serial.println(']'); Serial.flush();} while(0)
- const int steps_per_rev = 2038;
- #define IN1 8
- #define IN2 9
- #define IN3 10
- #define IN4 11
- Stepper motor(steps_per_rev, IN1, IN3, IN2, IN4);
- void setup() {
- srand(time(NULL));
- Serial.begin(115200);
- }
- void WinderMotion(int8_t dir, uint16_t dist, uint8_t speed){
- motor.setSpeed(speed);
- motor.step(dir * dist);
- }
- void loop() {
- uint8_t rdir = 0, rdist = 0, rspd = 0, speed = 0;
- int8_t dir = 0;
- uint16_t dist = 0;
- rdir = rand() % 2, rdist = rand() % 3, rspd = rand() % 3;
- dir = rdir * 2 - 1;
- dist = steps_per_rev / (1 << rdist);
- speed = (rspd + 1) * 2;
- Serial.print("Dir: ");
- Serial.println(dir);
- Serial.print("Dist: ");
- Serial.println(dist);
- Serial.print("Speed: ");
- Serial.println(speed);
- WinderMotion(dir, dist, speed);
- }
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