# Controlling Stepper Motors

### Overview:  

Stepper motors are used when a high degree of control and accuracy is needed and speed is not. 3D  printers, CNC machines,surveillance devices, medical controls, cameras, andmany other items are  operated, in part, by a stepper motor. Stepper motors could also be used to control a small vehicle if  you wanted its motion to be very precise! Check out 

<http://42bots.com/tutorials/28byj-48-stepper> motor-with-uln2003-driver-and-arduino-uno/

This lesson will show you the basics of how to drive a  stepper motor using an Arduino, a stepper motor driver, and a stepper motor. &#x20;

### Parts: &#x20;

1 – Arduino Uno

1 – 28BYJ – 48 Stepper Motor

1 – ULN2003 Stepper Motor Driver Board

Assorted Wiring

### Wiring: &#x20;

![](/files/QhI4DEZynSGR3dfFOGo7)

![](/files/nnSwfPnIevORJdZn8trw)

### Code: &#x20;

```
/*-----( Import needed libraries )-----*/
#include <Stepper.h>
/*-----( Declare Constants, Pin Numbers )-----*/
//---( Number of steps per revolution of INTERNAL motor in 4-step mode )---
#define STEPS_PER_MOTOR_REVOLUTION 32
//---( Steps per OUTPUT SHAFT of gear reduction )---
#define STEPS_PER_OUTPUT_REVOLUTION 32 * 64 //2048  
/*-----( Declare objects )-----*/
// create an instance of the stepper class, specifying
// the number ofsteps of the motor and the pins it's
// attached to
//The pin connections need to be 4 pins connected
// to Motor Driver In1, In2, In3, In4 and then the pins entered
// here in the sequence 1-3-2-4 for proper sequencing
Stepper small_stepper(STEPS_PER_MOTOR_REVOLUTION, 8, 10, 9, 11);

/*-----( Declare Variables )-----*/
int Steps2Take;

void setup() /*----( SETUP: RUNS ONCE )----*/
{
  // Nothing (Stepper Library sets pins as outputs)
}

void loop()
{
  // In slow motion, this is the 4 step sequence that
  //is required to make the motor take one step
  small_stepper.setSpeed(1);
  Steps2Take = 4; // Rotate CW
  small_stepper.step(Steps2Take);
  delay(2000);
  // now we will make the motor rotate half a revolution at a moderate speed
  Steps2Take = STEPS_PER_OUTPUT_REVOLUTION / 2;
  small_stepper.setSpeed(100);
  small_stepper.step(Steps2Take);
  delay(1000);
  //now we will have it rotate half a revolution backwards at a quicker pace
  Steps2Take = - STEPS_PER_OUTPUT_REVOLUTION / 2; //
  small_stepper.setSpeed(700);
  small_stepper.step(Steps2Take);
  delay(2000);
}
```


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