├── ESP8266_Stepper.pdf ├── script └── example.sh ├── README.md ├── sketch └── StepperWebServer │ └── StepperWebServer.ino └── LICENSE /ESP8266_Stepper.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rgrokett/ESP8266_Stepper/HEAD/ESP8266_Stepper.pdf -------------------------------------------------------------------------------- /script/example.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | # Example Linux cmd-line script to run the ESP8266 HUZZAH with Stepper Motor 4 | # 5 | 6 | 7 | # >> CHANGE FOR YOUR IP ADDRESS 8 | ESP_IP="192.168.1.82" 9 | 10 | # Show Usage 11 | curl http://$ESP_IP/ 12 | sleep 1 13 | 14 | # Turn on Motors 15 | curl http://$ESP_IP/stepper/start 16 | 17 | # Set RPM 18 | curl http://$ESP_IP/stepper/rpm?10 19 | 20 | # Move it! 21 | curl http://$ESP_IP/stepper/steps?50 22 | curl http://$ESP_IP/stepper/steps?-50 23 | sleep 2 24 | 25 | # Change speed and Move! 26 | curl http://$ESP_IP/stepper/rpm?50 27 | curl http://$ESP_IP/stepper/steps?200 28 | curl http://$ESP_IP/stepper/steps?-200 29 | 30 | # Turn Off Motors 31 | curl http://$ESP_IP/stepper/stop 32 | 33 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ESP8266_Stepper 2 | 3 | ESP8266 HUZZAH WiFi Operated Stepper Motor 4 | 5 | 6 | Overview 7 | Surprisingly, you can run a powerful stepper motor (via motor controller) from 8 | the Adafruit Huzzah ESP8266 WiFi module and thus control the stepper via 9 | browser or web service, turning your stepper into an Internet of Things (IoT) 10 | device. This makes for a compact and low-cost remotely controlled motor, good 11 | for robots, mechanical arms and more. 12 | 13 | Requirements 14 | I used the following Adafruit components for the Stepper Motor and ESP8266 15 | right out of the box. Otherwise, you would need to add regulators and 16 | related components to make the voltages compatible. 17 | 18 | 19 | IMPORTANT NOTE! The power regulator on the Adafruit HUZZAH ESP8266 board 20 | has CHANGED. It no longer can handle 12v DC. A 5VDC power supply to feed 21 | the V+ and a 12v supply to the Stepper now required! 22 | 23 | 24 | Older HUZZAH ESP8266's included a 3-16v regulator, so are unaffected. 25 | 26 | 27 | ##Hardware 28 | * Adafruit HUZZAH ESP8266 Breakout https://www.adafruit.com/products/2471 29 | * Adafruit TB6612 1.2A DC/Stepper Motor Driver Board https://www.adafruit.com/products/2448 30 | * Stepper motor NEMA-17 size 200 steps/rev, 12V 350mA https://www.adafruit.com/products/324 or equiv 31 | * 12 VDC 1000mA power supply https://www.adafruit.com/products/798 or equiv 32 | * 5 VDC 500mA power supply https://www.adafruit.com/products/501 or equiv 33 | * FTDI or USB console cable https://www.adafruit.com/products/954 or equiv 34 | * Breadboard, wire, etc. 35 | 36 | 37 | ##Software 38 | * Arduino IDE with ESP8266 extension package installed 39 | * Download my ESP8266 Stepper web server app from GitHub https://github.com/rgrokett/ESP8266_stepper/ 40 | 41 | See [ESP8266_Stepper.pdf](ESP8266_Stepper.pdf) for details. 42 | 43 | 44 | -------------------------------------------------------------------------------- /sketch/StepperWebServer/StepperWebServer.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * Controller for Stepper Motor 3 | * This sketch sets up a web server on port 80 4 | * The server will control the Adafruit TB6612 Driver board depending on the request 5 | * See http://server_ip/ for usage (or see docs for more info) 6 | * The server_ip is the IP address of the ESP8266 module which will be 7 | * printed to Serial and the LED blinked when the module is connected. 8 | * 9 | * Version 1.1 2015.10.01 R. Grokett 10 | * - Added support for STBY pin 11 | */ 12 | 13 | #include 14 | #include 15 | 16 | // -- USER EDIT -- 17 | const char* ssid = "MY_SSID"; // YOUR WIFI SSID 18 | const char* password = "MY_PASS"; // YOUR WIFI PASSWORD 19 | 20 | // change this to your motor if not NEMA-17 200 step 21 | #define STEPS 200 // Max steps for one revolution 22 | #define RPM 60 // Max RPM 23 | #define DELAY 1 // Delay to allow Wifi to work 24 | // -- END -- 25 | 26 | 27 | int STBY = 5; // GPIO 5 TB6612 Standby 28 | int LED = 0; // GPIO 0 (built-in LED) 29 | 30 | // GPIO Pins for Motor Driver board 31 | Stepper stepper(STEPS, 16, 14, 12, 13); 32 | 33 | // Create an instance of the server 34 | // specify the port to listen on as an argument 35 | WiFiServer server(80); 36 | 37 | void setup() { 38 | Serial.begin(115200); 39 | delay(10); 40 | 41 | // prepare onboard LED 42 | pinMode(LED, OUTPUT); 43 | digitalWrite(LED, HIGH); 44 | 45 | // prepare STBY GPIO and turn on Motors 46 | pinMode(STBY, OUTPUT); 47 | digitalWrite(STBY, HIGH); 48 | 49 | // Set default speed to Max (doesn't move motor) 50 | stepper.setSpeed(RPM); 51 | 52 | // Connect to WiFi network 53 | Serial.println(); 54 | Serial.println(); 55 | Serial.print("STEPPER: Connecting to "); 56 | Serial.println(ssid); 57 | 58 | WiFi.begin(ssid, password); 59 | 60 | while (WiFi.status() != WL_CONNECTED) { 61 | delay(500); 62 | Serial.print("."); 63 | } 64 | Serial.println(""); 65 | Serial.println("WiFi connected"); 66 | 67 | // Start the server 68 | server.begin(); 69 | Serial.println("Server started"); 70 | 71 | // Print the IP address 72 | Serial.println(WiFi.localIP()); 73 | 74 | // Blink onboard LED to signify its connected 75 | blink(); 76 | blink(); 77 | blink(); 78 | blink(); 79 | } 80 | 81 | void loop() { 82 | // Check if a client has connected 83 | WiFiClient client = server.available(); 84 | if (!client) { 85 | return; 86 | } 87 | 88 | String respMsg = ""; // HTTP Response Message 89 | 90 | // Wait until the client sends some data 91 | Serial.println("new client"); 92 | while(!client.available()){ 93 | delay(1); 94 | } 95 | 96 | // Read the first line of the request 97 | String req = client.readStringUntil('\r'); 98 | Serial.println(req); 99 | client.flush(); 100 | 101 | // Match the request 102 | if (req.indexOf("/stepper/stop") != -1) { 103 | digitalWrite(STBY, LOW); 104 | respMsg = "OK: MOTORS OFF"; 105 | } 106 | else if (req.indexOf("/stepper/start") != -1) { 107 | digitalWrite(STBY, HIGH); 108 | blink(); 109 | respMsg = "OK: MOTORS ON"; 110 | } 111 | else if (req.indexOf("/stepper/rpm") != -1) { 112 | int rpm = getValue(req); 113 | if ((rpm < 1) || (rpm > RPM)) { 114 | respMsg = "ERROR: rpm out of range 1 to "+ String(RPM); 115 | } else { 116 | stepper.setSpeed(rpm); 117 | respMsg = "OK: RPM = "+String(rpm); 118 | } 119 | } 120 | // This is just a simplistic method of handling + or - number steps... 121 | else if (req.indexOf("/stepper/steps") != -1) { 122 | int steps = getValue(req); 123 | if ((steps == 0) || (steps < 0 - STEPS) || ( steps > STEPS )) { 124 | respMsg = "ERROR: steps out of range "; 125 | } else { 126 | digitalWrite(STBY, HIGH); // Make sure motor is on 127 | respMsg = "OK: STEPS = "+String(steps); 128 | delay(DELAY); 129 | if ( steps > 0) { // Forward 130 | for (int i=0;isteps;i--) { // This loop is needed to allow Wifi to not be blocked by step 136 | stepper.step(-1); 137 | delay(DELAY); 138 | } 139 | } 140 | } 141 | } 142 | else { 143 | respMsg = printUsage(); 144 | } 145 | 146 | client.flush(); 147 | 148 | // Prepare the response 149 | String s = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\r\n\r\n"; 150 | if (respMsg.length() > 0) 151 | s += respMsg; 152 | else 153 | s += "OK"; 154 | 155 | s += "\n"; 156 | 157 | // Send the response to the client 158 | client.print(s); 159 | delay(1); 160 | Serial.println("Client disconnected"); 161 | 162 | // The client will actually be disconnected 163 | // when the function returns and 'client' object is detroyed 164 | } 165 | 166 | int getValue(String req) { 167 | int val_start = req.indexOf('?'); 168 | int val_end = req.indexOf(' ', val_start + 1); 169 | if (val_start == -1 || val_end == -1) { 170 | Serial.print("Invalid request: "); 171 | Serial.println(req); 172 | return(0); 173 | } 174 | req = req.substring(val_start + 1, val_end); 175 | Serial.print("Request: "); 176 | Serial.println(req); 177 | 178 | return(req.toInt()); 179 | } 180 | 181 | String printUsage() { 182 | // Prepare the usage response 183 | String s = "Stepper usage:\n"; 184 | s += "http://{ip_address}/stepper/stop\n"; 185 | s += "http://{ip_address}/stepper/start\n"; 186 | s += "http://{ip_address}/stepper/rpm?[1 to " + String(RPM) + "]\n"; 187 | s += "http://{ip_address}/stepper/steps?[-" + String(STEPS) + " to " + String(STEPS) +"]\n"; 188 | return(s); 189 | } 190 | void blink() { 191 | digitalWrite(LED, LOW); 192 | delay(100); 193 | digitalWrite(LED, HIGH); 194 | delay(100); 195 | } 196 | 197 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 2, June 1991 3 | 4 | Copyright (C) 1989, 1991 Free Software Foundation, Inc., 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | Preamble 10 | 11 | The licenses for most software are designed to take away your 12 | freedom to share and change it. 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