MIND-Biomech/stepper_motor_3-12-25-TestCode.ino at main · Rishaan1908/MIND-Biomech · GitHub

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// Define pin connections & motor's steps per revolution
const int dirPin_thumb = 8;
const int stepPin_thumb = 9;
const int dirPin_point = 2;
const int stepPin_point = 3;
const int dirPin_fingers = 4;
const int stepPin_fingers = 5;
const int stepsPerRevolution = 1000;
int stepDelay=1000;

void setup()
{
  // Declare pins as Outputs
  pinMode(stepPin_thumb, OUTPUT);
  pinMode(dirPin_thumb, OUTPUT);
  pinMode(stepPin_point, OUTPUT);
  pinMode(dirPin_point, OUTPUT);
  pinMode(stepPin_fingers, OUTPUT);
  pinMode(dirPin_fingers, OUTPUT);
}
void loop()
{
  //clockwise
  // digitalWrite(dirPin_thumb, HIGH);
  // digitalWrite(dirPin_fingers, HIGH);
  // digitalWrite(dirPin_point, HIGH);
  // // Spin motor
  // for(int x = 0; x < stepsPerRevolution; x++)
  // {
  //   digitalWrite(stepPin_thumb, HIGH);
  //   digitalWrite(stepPin_point, HIGH);
  //   digitalWrite(stepPin_fingers, HIGH);
  //   delayMicroseconds(stepDelay);
  //   digitalWrite(stepPin_thumb, LOW);
  //   digitalWrite(stepPin_point, LOW);
  //   digitalWrite(stepPin_fingers, LOW);
  //   delayMicroseconds(stepDelay);
  // }
  // delay(1000); // Wait a second

  //counterclockwise
  digitalWrite(dirPin_thumb, LOW);
  digitalWrite(dirPin_fingers, HIGH);
  digitalWrite(dirPin_point, HIGH);
  // Spin motor
  for(int x = 0; x < stepsPerRevolution; x++)
  {
    digitalWrite(stepPin_thumb, HIGH);
    digitalWrite(stepPin_point, HIGH);
    digitalWrite(stepPin_fingers, HIGH);
    delayMicroseconds(stepDelay);
    digitalWrite(stepPin_thumb, LOW);
    digitalWrite(stepPin_point, LOW);
    digitalWrite(stepPin_fingers, LOW);
    delayMicroseconds(stepDelay);
  }
  delay(1000); // Wait a second
}