#include <AFMotor.h>AF_Stepper motor_freight(200, 1);AF_Stepper motor_passenger(200, 2);void setup() {Serial.begin(9600); // set up Serial library at 9600 bpsSerial.println("Stepper test!");motor_freight.setSpeed(80); // 60 rpmmotor_passenger.setSpeed(100);} void loop() {motor_freight.step(1, FORWARD, SINGLE);motor_passenger.step(1, FORWARD, SINGLE);// motor_freight.step(100, BACKWARD, SINGLE);// delay(500);// motor_passenger.step(200, FORWARD, SINGLE);// delay(500); }

#include <AFMotor.h>AF_Stepper motor_freight(200, 1);AF_Stepper motor_passenger(200, 2);void setup() {Serial.begin(9600); // set up Serial library at 9600 bpsSerial.println("Stepper test!");motor_freight.setSpeed(60); // 60 rpmmotor_passenger.setSpeed(80);} void loop() {motor_freight.step(300, FORWARD, SINGLE);delay(500);motor_freight.step(100, BACKWARD, SINGLE);delay(500);motor_passenger.step(200, FORWARD, SINGLE);delay(500);motor_passenger.step(200, BACKWARD, SINGLE);delay(500); }

file:///Users/mg/Documents/M2%20Thesis%202008/Tech/03%20Arduino%20Code%20/AFMotornoservo.txt

#include <avr/io.h>#include "WProgram.h"#include "AFMotor.h"static uint8_t latch_state;AFMotorController::AFMotorController(void) {}void AFMotorController::enable(void) {// setup the latchLATCH_DDR |= _BV(LATCH);ENABLE_DDR |= _BV(ENABLE);CLK_DDR |= _BV(CLK);SER_DDR |= _BV(SER);latch_state = 0;latch_tx(); // "reset"ENABLE_PORT &= ~_BV(ENABLE); // enable the chip outputs!}void AFMotorController::latch_tx(void) {uint8_t i;LATCH_PORT &= ~_BV(LATCH);SER_PORT &= ~_BV(SER);for (i=0; i<8; i++) {CLK_PORT &= ~_BV(CLK);if (latch_state & _BV(7-i))SER_PORT |= _BV(SER);elseSER_PORT &= ~_BV(SER);CLK_PORT |= _BV(CLK);}LATCH_PORT |= _BV(LATCH);}static AFMotorController MC;

file:///Users/mg/Documents/M2%20Thesis%202008/Tech/03%20Arduino%20Code%20/AFMotornoservo.txt (1 of 8) [26/04/08 4:33:39 PM]