niklauslee / stepper

Kaluma library to control stepper motors

Stepper

Kaluma library to control unipolar or bipolar stepper motors.

Wiring

Here is a wiring example with 28BYJ-48 stepper motor and ULN2003A driver.

Raspberry Pi Pico	ULN2003A (28BYJ-48)
VBUS	+
GND	-
GP10	IN1
GP11	IN2
GP12	IN3
GP13	IN4

Install

npm install https://github.com/niklauslee/stepper

Usage

Here is an example:

// 2048 steps for a revolution
const steps = 2048;

// pins for control wires
const pins = [10, 11, 12, 13];

// The sequence of controls signals for 28BYJ-48
const signals = [0b1000, 0b0100, 0b0010, 0b0001];

const {Stepper} = require('stepper');
const stepper = new Stepper(steps, pins, signals);

global.stepper = stepper;
stepper.setSpeed(12); // 12 rpm
stepper.step(2048);   // turn 360 degree in clockwise
delay(1000);          // wait 1 sec
stepper.step(-2048);  // turn 360 degree in anti-clockwise

API

Class: Stepper

new Stepper(steps, pins[, signals])

• steps <number> Number of steps for a revolution.
• pins Array<number> Pins wired to the stepper motor.
• signals Array<number> The sequence of control signals. Optional.

Create an instance of Stepper class.

The steps parameter is the number of steps for a revolution.

You can provide control signals according to your stepper motor specification. Otherwise a default sequence of control signals are used for 2 pins and 4 pins. The default sequence of control signals are the same with Arduino's Stepper library.

Default control signals for 4 control wires

Step	C0	C1	C2	C4
1	1	0	1	0
2	0	1	1	0
3	0	1	0	1
4	1	0	0	1

Default control signals for 2 control wires

Step	C0	C1
1	0	1
2	1	1
3	1	0
4	0	0

setSpeed(rpm)

• rpm <number> Default: 10.

Sets the speed in revolutions per minute. This should be given less than the maximum speed of the stepper motor.

step(count)

• count <number> Number of steps to move in clockwise. If a negative number is given, move in anti-clockwise.

Move as the given number of steps.