Introduction
The purpose of this assignment was to experiment with using multiple
stepper motors. These techniques could be used to build a fully
controllable robotic arm.
Methods To implement these
mechanisms, I used 3 28BYJ-48 stepper motors, 3 ULN2003A motor drivers,
2 Arduino Nanos, a custom 5V power supply, and a KY-040 rotary encorder
module. Results
Video 1: The stepper motor rotating 1 full step in both directions.
Figure 1: Reading the encoder position in real time.
Video 2: controlling a stepper motor with the encoder.
Video 4: Rotating 3 step motors at different times, same speed.
Video 5: Rotating 3 motors at same time, same speed.
Video 6: Rotating 3 motors different direction, different speed.
Video 7: Controlling the motor with the encoder using a master-slave configuration and a push button to trigger the movement.
Discussion Because
of time constraints we weren't able to build a fully functioning
robotic arm, but this was still a fun project. The encoder did not work
perfectly either because of the quality of the encoder or the software
was not designed to debounce the signal.
