Experiment 7: Stepper Motor Control via Microcontroller

Experiment 7: Stepper Motor Control via Microcontroller

Objective

To control the rotation and direction of a stepper motor using Arduino and a ULN2003 driver.

Task

1. Connect stepper motor and driver to Arduino.
2. Write code to rotate motor clockwise and counter-clockwise.
3. Vary delay to change motor speed.

⚠️ Disconnect your Arduino from the computer while making or removing component connections.

⚠️ Important Note:
1. Connect only the Arduino Uno (without any component connections) to the computer via USB.
2. Upload the code to the Arduino.
3. Disconnect the Arduino from the computer and remove the USB cable.
4. Make all component connections using patch cords as per the circuit diagram.
5. Then connect the 9V adapter to provide external power supply to the Arduino.

Circuit Diagram (without LCD)

Circuit Diagram

Circuit Diagram (with LCD)

Circuit Diagram

Board Connections (without LCD)

Board Connections

Board Connections (with LCD)

Board Connections

Important

Before uploading your Arduino code, make sure you have installed the following libraries in the Arduino IDE: 1. Wire.h – For I²C communication between Arduino and peripheral devices. 2. LiquidCrystal_I2C.h – For controlling LCD displays using the I²C interface.

✅ Install via (ZIP Method):

Sketch → Include Library → Add .ZIP Library → Select Downloaded .zip File → Open → Wait for “Library Installed” message

✅ Verify :

Sketch → Include Library → The included library name should be present

Connections (without LCD)

Component	Arduino Pin	Description
Stepper Motor IN1	D8	Control input 1
Stepper Motor IN2	D9	Control input 2
Stepper Motor IN3	D10	Control input 3
Stepper Motor IN4	D11	Control input 4
ULN2003 VCC	5V	Power supply for driver
ULN2003 GND	GND	Common ground

Code

// © 2025, Cognifront. Member of The IoT Kits Family.

//Experiment 7: Stepper Motor Control via Microcontroller

// Include the Stepper motor library
#include <Stepper.h>

// Define the number of steps per revolution for the stepper motor
// For a 28BYJ-48 stepper, it's typically 2048 steps per revolution (with gear reduction)
const int stepsPerRevolution = 2048;  

// Create a Stepper object named myStepper
// Connected to digital pins 8, 9, 10, 11 (sequence matters!)
Stepper myStepper(stepsPerRevolution, 8, 10, 9, 11);

void setup() {
  // Start serial communication for debugging and monitoring
  Serial.begin(9600);
  Serial.println("Stepper Motor Speed Test"); // Initial message
}

void loop() {
  // Rotate clockwise (CW) at increasing speeds
  for (int spd = 5; spd <= 10; spd += 5) {
    Serial.print("Rotating CW at ");
    Serial.print(spd);
    Serial.println(" RPM");

    myStepper.setSpeed(spd);                        // Set stepper speed in RPM
    myStepper.step(stepsPerRevolution / 2);         // Rotate 1/2 revolution in CW direction
    delay(500);                                     // Short pause between speed changes
  }

  // Rotate counterclockwise (CCW) at decreasing speeds
  for (int spd = 10; spd >= 5; spd -= 5) {
    Serial.print("Rotating CCW at ");
    Serial.print(spd);
    Serial.println(" RPM");

    myStepper.setSpeed(spd);                        // Set stepper speed in RPM
    myStepper.step(-stepsPerRevolution / 2);        // Rotate 1/2 revolution in CCW direction
    delay(500);                                     // Short pause between speed changes
  }
}

Connections (with LCD)

Component	Arduino Pin	Description
Stepper Motor IN1	D8	Control input 1
Stepper Motor IN2	D9	Control input 2
Stepper Motor IN3	D10	Control input 3
Stepper Motor IN4	D11	Control input 4
ULN2003 VCC	5V	Power supply for driver
ULN2003 GND	GND	Common ground
LCD VCC	5V	Power supply for LCD
LCD GND	GND	Common Ground
LCD SDA	A4	Serial Data
LCD SCL	A5	Serial Clock

Code

// © 2025, Cognifront. Member of The IoT Kits Family.
// Experiment 7: Stepper Motor Control via Microcontroller
// Stepper with I2C 16x2 LCD showing Speed and Direction

#include <Wire.h>
#include <Stepper.h>
#include <LiquidCrystal_I2C.h>

// ==============================
// LCD I2C CONNECTIONS
// ------------------------------
// LCD VCC → Arduino 5V
// LCD GND → Arduino GND
// LCD SDA → Arduino A4
// LCD SCL → Arduino A5
// ==============================

// Initialize the LCD with I2C address 0x27 and size 16x2
LiquidCrystal_I2C lcd(0x27, 16, 2);

// ==============================
// STEPPER MOTOR CONNECTIONS (via ULN2003 driver board)
// ------------------------------
// IN1 → Arduino D8
// IN2 → Arduino D9
// IN3 → Arduino D10
// IN4 → Arduino D11
// ==============================

// Define motor pins using #define
#define IN1 8
#define IN2 9
#define IN3 10
#define IN4 11

// Define number of steps per revolution for 28BYJ-48 stepper
const int stepsPerRevolution = 2048;

// Create Stepper object with defined pins (same sequence)
Stepper myStepper(stepsPerRevolution, IN1, IN2, IN3, IN4);

void setup() {
  Serial.begin(9600);

  // Initialize LCD
  lcd.init();        // Initialize the LCD
  lcd.backlight();   // Turn on backlight
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print("Stepper Test");
  delay(1000);
  lcd.clear();

  Serial.println("Stepper Motor Speed Test with I2C LCD");
}

void loop() {
  // Rotate Counterclockwise (CCW) at 5 and 10 RPM
  for (int spd = 5; spd <= 10; spd += 5) {
    myStepper.setSpeed(spd);

    Serial.print("Rotating CCW at ");
    Serial.print(spd);
    Serial.println(" RPM");

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Direction: CCW");
    lcd.setCursor(0, 1);
    lcd.print("Speed: ");
    lcd.print(spd);
    lcd.print(" RPM");

    myStepper.step(stepsPerRevolution / 2); // Half revolution CCW
    delay(500);
  }

  // Rotate Clockwise (CW) at 10 and 5 RPM
  for (int spd = 10; spd >= 5; spd -= 5) {
    myStepper.setSpeed(spd);

    Serial.print("Rotating CW at ");
    Serial.print(spd);
    Serial.println(" RPM");

    lcd.clear();
    lcd.setCursor(0, 0);
    lcd.print("Direction: CW");
    lcd.setCursor(0, 1);
    lcd.print("Speed: ");
    lcd.print(spd);
    lcd.print(" RPM");

    myStepper.step(-stepsPerRevolution / 2); // Half revolution CW
    delay(500);
  }
}

Observation

• The stepper motor rotates in both clockwise and counterclockwise directions.
• The motor speed changes as per the programmed RPM values.
• Smooth operation is observed with correct wiring sequence.

Conclusion

The experiment successfully demonstrates control of a stepper motor’s speed and direction using Arduino and a ULN2003 driver. This forms the basis for applications like robotic motion control, CNC systems, and precise positioning mechanisms.

Real Life Example

CNC Machine Feed Drive: Stepper motors provide precise and repeatable control of tool or table movement along X, Y, and Z axes, ensuring accurate machining operations in computer-controlled manufacturing.