1 mobil robototexnikani o’qitish bo’yicha metodika 2021

Surat 34.4: Arduino UNO ga step motorini ulash sxemasi
Step vosita, ma’lum bir ketma-ketlikda motor sariqlariga 
impulslarni qo’llash orqali Arduino orqali boshqariladi. Step 
motorini boshqarishni osonlashtirish uchun maxsus stepper.h 
va accelstepper.h kutubxonalari yaratilgan, ammo siz motor 
o’qini standart kutubxonalarsiz aylantirishingiz mumkin. 
Yuqoridagi diagrammada ko’rsatilganidek, step motorini 
mikrokontrollaga ulang va quyidagi eskizni yuklang.
Step motorni boshqarish sketchi

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// ULN2003 modulini Arduinoga ulash uchun portlar
#define in1 8
#define in2 9
#define in3 10
#define in4 11
int dl = 5; // impulslar orasidagi kechikish vaqti
void setup() {
    pinMode(in1, OUTPUT);
    pinMode(in2, OUTPUT);
    pinMode(in3, OUTPUT);
    pinMode(in4, OUTPUT);
}
void loop() {
    digitalWrite(in1, HIGH); 
    digitalWrite(in2, LOW); 
    digitalWrite(in3, LOW); 
    digitalWrite(in4, HIGH);
    delay(dl);
    digitalWrite(in1, HIGH); 
    digitalWrite(in2, HIGH); 
    digitalWrite(in3, LOW); 
    digitalWrite(in4, LOW);
    delay(dl);
    digitalWrite(in1, LOW); 
    digitalWrite(in2, HIGH); 
    digitalWrite(in3, HIGH); 
    digitalWrite(in4, LOW);
    delay(dl);

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analogWrite(MOTOR,speedMotor);
delay(1000); // пауза
}