CE432 Robotics II Fall 2022
Homework 8 - Using a Rotary Encoder to Control a Stepper Motor
Name: Ryan Jeanes
Email: rejeanes@fortlewis.edu
Homework 8 - Using a Rotary Encoder to Control a Stepper Motor
Introduction
For this assignment, we used a rotary encoder to control which direction a stepper motor is turning.

Task 1
This task was completed succesfully. The motor was able to be driven using the ULN2003A.

Stepper Motor Demo

Task 2
Task 2 was completed succesfully. One small change had to be made to the connection to the driver. Connections to pins 8 and 9 were swapped as the motor was only able to be moved clockwise without doing so.


Figure 1 - Testing the rotary encoder.

Stepper Motor w/ Rotary Encoder Demo
Appendix
Code used for controlling the stepper motor.