Управление шаговым двигателем

[szek]

Вот что получилось

#include <Stepper.h>
#include <EEPROM.h>

#define motorSteps 24
#define motorPin1 8
#define motorPin2 9
#define motorPin3 10
#define motorPin4 11

int switchPin1 = 2;
int switchPin2 = 4;
int switchPin3 = 3;
int switchPin4 = 5;
int ledPin = 13;
int x;
int z;
int y;
int addr = 0;
boolean lastButton1 = LOW;
boolean currentButton1 = LOW;
boolean lastButton2 = LOW;
boolean currentButton2 = LOW;
boolean lastButton3 = LOW;
boolean currentButton3 = LOW;
boolean lastButton4 = LOW;
boolean currentButton4 = LOW;

Stepper myStepper(motorSteps, motorPin1,motorPin2,motorPin3,motorPin4); 

void setup() 
{
  pinMode(switchPin1, INPUT);
  pinMode(switchPin2, INPUT);
  pinMode(switchPin3, INPUT);
  pinMode(switchPin3, INPUT);
  myStepper.setSpeed(200);
}

boolean debounce1(boolean last)
{
  boolean current1 = digitalRead(switchPin1);
  if (last != current1)
  {
    delay(5);
    current1 = digitalRead(switchPin1);
  }
  return current1;
 }
 
 boolean debounce2(boolean last)
{
  boolean current2 = digitalRead(switchPin2);
  if (last != current2)
  {
    delay(5);
    current2 = digitalRead(switchPin2);
  }
  return current2;
 }
 
 boolean debounce3(boolean last)
{
  boolean current3 = digitalRead(switchPin3);
  if (last != current3)
  {
    delay(5);
    current3 = digitalRead(switchPin3);
  }
  return current3;
 }
 
 boolean debounce4(boolean last)
{
  boolean current4 = digitalRead(switchPin4);
  if (last != current4)
  {
    delay(5);
    current4 = digitalRead(switchPin4);
  }
  return current4;
 }

void loop() 
{
  {
    //EEPROM.write(0, 0);
  }
  
  {
    x=EEPROM.read(0);
  }
      currentButton1 = debounce1(lastButton1);
      if (lastButton1 == LOW && currentButton1 == HIGH && x < 13)
    {
      myStepper.step(-24);
      x = x + 1;
    }
      lastButton1 = currentButton1;
  
      currentButton2 = debounce2(lastButton2);
      if (lastButton2 == LOW && currentButton2 == HIGH && x > 0)
    {
      myStepper.step(24);
      x = x - 1;
    }
      lastButton2 = currentButton2;
      
      z = 13 - x;
      
      currentButton3 = debounce3(lastButton3);
      if (lastButton3 == LOW && currentButton3 == HIGH)
    {
      myStepper.step(-z*24);
      x = x + z;
    }
      lastButton3 = currentButton3;
      
      y = x;
      
      currentButton4 = debounce4(lastButton4);
      if (lastButton4 == LOW && currentButton4 == HIGH)
    {
      myStepper.step(y*24);
      x = y - x;
    }
      lastButton4 = currentButton4;
      
      x = min(x, 13);
      x = max(x, 0);
      
     {
        EEPROM.write(0, x);
        delay(100);
     }
}