Page 334 - Making things move_ DIY mechanisms for inventors, hobbyists, and artists

Chapter 10 Projects 311

FIGURE 10-23 Full SADbot circuit-testing setup

#include <Stepper.h> //import stepper library

#define STEPS 200 // 360/1.8 (step angle) = 200 steps/revolution

//declare new stepper objects from stepper library (one per motor)
Stepper right_motor(STEPS, 6, 7); //6=DIR, 7=STEP
Stepper left_motor(STEPS, 11, 12); //11=DIR, 12=STEP

int distance; // how far motors should go
int lowest; // variable to store lowest photocell value
int i; // for looping

// variables for 4 photocell values
int photo_up;
int photo_down;