https://github.com/niklauslee/stepper
Kaluma library to control stepper motors
https://github.com/niklauslee/stepper
kaluma motor stepper
Last synced: 25 days ago
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Kaluma library to control stepper motors
- Host: GitHub
- URL: https://github.com/niklauslee/stepper
- Owner: niklauslee
- License: mit
- Created: 2022-02-17T09:56:41.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2022-02-17T11:05:53.000Z (over 3 years ago)
- Last Synced: 2025-08-03T06:37:13.697Z (2 months ago)
- Topics: kaluma, motor, stepper
- Language: JavaScript
- Homepage:
- Size: 104 KB
- Stars: 2
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# 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
```sh
npm install https://github.com/niklauslee/stepper
```
# Usage
Here is an example:
```js
// 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 of steps for a revolution.
- **`pins`** `Array` Pins wired to the stepper motor.
- **`signals`** `Array` 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`** `` 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 of steps to move in clockwise. If a negative number is given, move in anti-clockwise.
Move as the given number of steps.