/* Program 10-3 Stepper motor control
 *
 * H-bridge driver TB6612FNG consists of four half-bridge circuit. 
 * A bipolar stepper motor should have one winding connected
 * across M1-M2 terminals and the other winding M3-M4. It works with
 * a unipolar stepper motor as well.
 * The program turn two revolutions in one direction and reverse the direction
 * for one revolution. The StepsPerRevolution should be adjusted to match
 * the motor.
 * 
 * This program uses Stepper library. For details of the library see
 * https://www.arduino.cc/en/Reference/Stepper
 */

#include <Stepper.h>
const int StepsPerRevolution = 96;  /* motor specific value */
const int PWM12 = 5;
const int PWM34 = 6;
 
/* specify the pins used to control the stepper motor */
Stepper stepper(StepsPerRevolution, 2, 3, 7, 8);
 
void setup() {
    stepper.setSpeed(30);  /* set the step speed for rpm */
    /* enable motor output with PWM at 100% */ 
    pinMode(PWM34, OUTPUT);
    pinMode(PWM12, OUTPUT);
    digitalWrite(PWM34, HIGH);
    digitalWrite(PWM12, HIGH);
}
 
void loop() {
    /* turn motor in one direction for two revolutions */
    stepper.step(StepsPerRevolution * 2);
    delay(500);     /* pause before reverse */
    
    /* reverse motor direction for one revolution */
    stepper.step(-StepsPerRevolution);
    delay(500);     /* pause before reverse */
}