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Operate-Lib

Operate-Lib is a lightweight Arduino library for easy and flexible control of stepper motors. It provides a simple class interface for common stepper operations, including setting speed, direction, homing with a limit switch, and position limits. This library is suitable for DIY CNC, robotics, pick-and-place, and other projects requiring robust stepper motor control.

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Features

• Simple API for stepper motor movement
• Homing functionality using a limit switch
• Position limiting to prevent out-of-range movement
• Speed adjustment with microsecond delay
• No hardware timer usage—works on any Arduino digital pins

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Installation

1. Download or clone this repository.
2. Place the Operate folder into your Arduino/libraries directory.
3. Restart the Arduino IDE.
4. Alternatively, use Sketch > Include Library > Add .ZIP Library... in the Arduino IDE.

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Usage Examples

Basic Example

Move a stepper motor forward for 2 seconds, then backward for 2 seconds:

#include <Arduino.h>
#include <operate.h>

#define STEP_PIN 2
#define DIR_PIN 5

operate motor;

void setup() {
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  motor.setPin(STEP_PIN, DIR_PIN);
  motor.setSpeed(300); // microseconds between steps
}

void loop() {
  // Move forward for 2 seconds
  unsigned long startTime = millis();
  while (millis() - startTime < 2000) {
    motor.move(1, 1);
  }
  delay(500);
  // Move backward for 2 seconds
  startTime = millis();
  while (millis() - startTime < 2000) {
    motor.move(1, 0);
  }
  delay(2000);
}

Advanced Example: Speed Control

Gradually increase and decrease the speed of the stepper motor:

#include <Arduino.h>
#include <operate.h>

#define STEP_PIN 2
#define DIR_PIN 5

operate motor;

void setup() {
  Serial.begin(9600);
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  motor.setPin(STEP_PIN, DIR_PIN);
}

void loop() {
  // Increase speed (decrease delay)
  for (int delayMicros = 800; delayMicros >= 100; delayMicros -= 100) {
    motor.setSpeed(delayMicros);
    motor.move(50, 1);
    delay(200);
  }
  delay(1000);
  // Decrease speed (increase delay)
  for (int delayMicros = 100; delayMicros <= 800; delayMicros += 100) {
    motor.setSpeed(delayMicros);
    motor.move(50, 0);
    delay(200);
  }
  delay(2000);
}

You can find more usage examples in the examples/ directory.

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API Reference

Class: operate

Methods

• void setPin(int stepPin, int dirPin);
  Set the step and direction pins.

• void setSpeed(int microseconds);
  Set the delay between steps (lower value is faster).

• void move(int steps, int dir);
  Move the motor by steps steps.
  dir: 1 = forward, 0 = backward.

• int home();
  Home the motor using the configured limit switch.

• int getCurrentPos();
  Get the current step position.

• int setHoming(int enabled, int speed, int timeout, int switchPin);
  Configure homing:

  • enabled: Enable (1) or disable (0) homing.
  • speed: Step delay for homing (microseconds).
  • timeout: Timeout value for the homing operation.
  • switchPin: Digital pin number for the limit switch.

• int setPosition(long pos);
  Move to a specific position, respecting limits.

• int setPositionLimits(long max, long min);
  Set upper and lower bounds for movement.

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License

This library is released under the MIT License.

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Happy Coding!