/*
  Stepper Motor Demonstration 1
  Stepper-Demo1.ino
  Demonstrates 28BYJ-48 Unipolar Stepper with ULN2003 Driver
  Uses Arduino Stepper Library
 
  DroneBot Workshop 2018
  https://dronebotworkshop.com
*/
 
//Include the Arduino Stepper Library
#include <Stepper.h>
 
// Define Constants
 
// Number of steps per internal motor revolution 
const float STEPS_PER_REV = 32; 
 
//  Amount of Gear Reduction
const float GEAR_RED = 64;
 
// Number of steps per geared output rotation
const float STEPS_PER_OUT_REV = STEPS_PER_REV * GEAR_RED;
 
// Define Variables
 
// Number of Steps Required
int StepsRequired;
 
// Create Instance of Stepper Class
// Specify Pins used for motor coils
// The pins used are 8,9,10,11 
// Connected to ULN2003 Motor Driver In1, In2, In3, In4 
// Pins entered in sequence 1-3-2-4 for proper step sequencing
 
Stepper steppermotor(STEPS_PER_REV, PA3, PA1, PA2, PA0);
 
void setup()
{
// Nothing  (Stepper Library sets pins as outputs)
}
 
void loop()
{
  StepsRequired  =  - STEPS_PER_OUT_REV / 2;   
  steppermotor.setSpeed(1700);  
  steppermotor.step(StepsRequired);
  delay(2000);
 
}