StepperMotorLib

A comprehensive guide to setting up and using the StepperMotor library on Raspberry Pi. Test rig:

• Raspberry Pi 5
• 64-bit Bookworm
• 2 x 28BYJ-48 motors

Prerequisites

Ensure that your system is equipped with the necessary tools:

sudo apt install -y git build-essential

Setup

WiringPi Library

First, fetch and install the WiringPi library:

git clone https://github.com/WiringPi/WiringPi.git
cd WiringPi
git checkout tags/3.2
./build debian
sudo dpkg -i /home/pi/WiringPi/debian-template/wiringpi_3.2_arm64.deb

Build and Install StepperMotor Library

Clone the StepperMotor repository and compile the source code:

git clone https://github.com/bmagsalan/StepperMotor.git
cd StepperMotor
make
sudo make install
# Refresh the library cache
sudo ldconfig /usr/local/lib

Configuration

Add your user to the gpio group to allow operation without sudo:

sudo usermod -a -G gpio pi
newgrp gpio

Usage

Compilation

Compile your application with the following commands:

g++ -o test.bin main.cpp -lsteppermotor -lwiringPi

Running the Application

Execute your compiled application:

./test.bin

Example

Here is a simple example to control stepper motors using the library:

#include <StepperMotor.h>
#include <iostream>
#include <string>

int main() {
    StepperMotor motor1(5, 6, 13, 19);
    StepperMotor motor2(14, 15, 18, 23);

    std::string command;
    int steps, speed;
    bool ccw;
    std::string stepMode;

    std::cout << "Motor Control (commands: '1 start [steps] [cw/ccw] [speed] [full/half/wave]', '1 stop', '2 start [steps] [cw/ccw] [speed] [full/half/wave]', '2 stop', 'exit'):" << std::endl;

    while (true) {
        std::cin >> command;
        if (command == "1") {
            std::cin >> command;
            if (command == "start") {
                std::cin >> steps >> command >> speed >> stepMode;
                ccw = (command == "ccw");
                motor1.start(steps, ccw, speed, stepMode);
            } else if (command == "stop") {
                motor1.stop();
            }
        } else if (command == "2") {
            std::cin >> command;
            if (command == "start") {
                std::cin >> steps >> command >> speed >> stepMode;
                ccw = (command == "ccw");
                motor2.start(steps, ccw, speed, stepMode);
            } else if (command == "stop") {
                motor2.stop();
            }
        } else if (command == "exit") {
            break;
        }
    }

    return 0;
}

Example Command

To control a motor:

1 start 4096 cw 15 "full"

Additional Resources

For more information, visit the following links:

• WiringPi Release 3.2
• RpiMotorLib

This guide ensures a smooth setup and operation of the StepperMotor library for users of all levels.