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Stepper Motor

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Overview

• Each step rotates the motor by a fixed angle (called step angle).
• You can control position, speed, and direction very accurately.
• No need for feedback sensors (in most basic systems).

• Multiple electromagnets (coils) arranged around a central rotor.
• When you energize coils in a specific sequence, the magnetic field causes the rotor to move one “step” at a time.

• STEP: Each pulse advances motor by one microstep.
• DIR: Sets direction of rotation (HIGH = one direction, LOW = opposite).
• ENABLE: Enables or disables motor coils (LOW = enable, HIGH = disable).
• Microstep Pins (MS1, MS2, MS3): Select microstepping resolution.
• VMOT & GND: Power supply for the motor.

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Pin Configuration

• STEP: GPIO 18
• DIR : GPIO 15
• ENABLE : GPIO 20 (OPTIONAL)
• VMOT: External Motor Power
• GND : External Motor Power
• GND (Logic) : GND (GLYPH BOARD)
• SLP : 5V SUPPLY (GLYPH BOARD)
• RST : 5V SUPPLY(GLYPH BOARD)

• Common approach in DRV8825 modules.
• Keeps both active together.

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Key Features

• Accurate Stepper Motor Control
• Adjustable Speed via DelayMicroseconds
• Direction Control
• Enable/Disable Motor Driver
• Compatible with GLYPH-C6 (ESP32-C6)

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Application

• Precision motion control systems
• Positioning and alignment mechanisms
• Robotics and automation projects
• CNC machines and engraving systems
• 3D printers and fabrication devices
• Smart home motorized appliances Conveyor and material handling systems Camera sliders and pan-tilt systems Automatic feeders and dispensing units Valve and actuator control systems Industrial control applications IoT-based remote motor control projects

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Step 1: Hardware Required

1. GLYPH-C6 Board (ESP32-C6)
2. DRV8825 Stepper Motor Driver Module
3. Bipolar Stepper Motor (e.g., NEMA 17)
4. External Motor Power Supply (12V recommended)

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Step 2: Circuit Diagram

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Step 3: Code Setup

1. Open Arduino IDE.
2. Make sure to install the library
3. Copy and paste the following code into the Arduino IDE:

// For GLYPH-C6 

// Define GPIO pins
#define STEP_PIN 18
#define DIR_PIN  15
#define ENABLE_PIN 20  // Optional (LOW = enabled)

// Define number of steps per revolution (depends on microstepping)
const int stepsPerRevolution = 19200;  // Example for high microstepping

void setup() {
  pinMode(STEP_PIN, OUTPUT);
  pinMode(DIR_PIN, OUTPUT);
  pinMode(ENABLE_PIN, OUTPUT);
  
  digitalWrite(ENABLE_PIN, LOW);  // Enable driver
  Serial.begin(115200);
  Serial.println("Starting Stepper Test...");
}

void loop() {
  Serial.println("Rotating Clockwise...");
  rotateStepper(true, stepsPerRevolution);
  delay(1000);

  Serial.println("Rotating Counter-Clockwise...");
  rotateStepper(false, stepsPerRevolution);
  delay(1000);
}

void rotateStepper(bool dir, int steps) {
  digitalWrite(DIR_PIN, dir ? HIGH : LOW);
  for (int i = 0; i < steps; i++) {
    digitalWrite(STEP_PIN, HIGH);
    delayMicroseconds(500);  // Pulse HIGH
    digitalWrite(STEP_PIN, LOW);
    delayMicroseconds(1000); // Pulse LOW (adjust speed here)
  }
}

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Step 4: Upload the Code

1. Connect the Board

• Connect your GLYPH board to your computer

2. Select the Board and Port

• Tools > Board > esp32 > Pcbcupid GLYPH C6

• Tools > Port and select the port connected to your GLYPH.
• Tools > USB CDC on Boot > Enabled

3. Upload the Code
   • Click the upload button (➡️ icon) or use the shortcut CRTL + U in Arduino IDE to upload the code to the board.

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Step 5: Observe the Output

• The stepper motor rotates clockwise and counterclockwise.
• Serial Monitor will display rotation direction and steps.
• Adjust delayMicroseconds() for speed tuning.
• Modify stepsPerRevolution to match your motor & microstepping settings.