Make: Robotic Arms

201Chapter 10: Taking the Next Steps

we place a 1 in the parentheses. Next, we need to establish which pins on

our Arduino are connected to the PWM and DIR pins on the stepper-motor

driver. In our circuit, we’re using digital pins 9 and 8, so they also go within

the parentheses. The last item we need to establish in the code above our

void setup is the variable we’re using to store our target angle—in this case,

45 degrees.

Next, in our void setup, we need to do three things: Set our maximum speed

and acceleration (both to 1000) and tell the stepper motor that wherever it is

at the beginning of the program should be considered its 0 position. ...