stepper.js

var b = require('bonescript');

var step = (function() {
    var M1 = 1;
    var M2 = 4;
    var state = 0;
    var enabled = 0;
    
    return function(direction) {
        if(!enabled) {
            process.stdout.write("Initializing motors\n");
            b.rcMotor("ENABLE");
            enabled = 1;
        }
    
        if(direction > 0) {
            state++;
        } else if (direction < 0) {
            state--;
        }
    
        if(state > 8) state = 0;
        else if(state < 0) state = 7;
        
        switch(state) {
            case 0:
            default:
                b.rcMotor(M1,1);
                b.rcMotor(M2,1);
                break;
            case 1:
                b.rcMotor(M1,0);
                b.rcMotor(M2,1);
                break;
            case 2:
                b.rcMotor(M1,-1);
                b.rcMotor(M2,1);
                break;
            case 3:
                b.rcMotor(M1,-1);
                b.rcMotor(M2,0);
                break;
            case 4:
                b.rcMotor(M1,-1);
                b.rcMotor(M2,-1);
                break;
            case 5:
                b.rcMotor(M1,0);
                b.rcMotor(M2,-1);
                break;
            case 6:
                b.rcMotor(M1,1);
                b.rcMotor(M2,-1);
                break;
            case 7:
                b.rcMotor(M1,1);
                b.rcMotor(M2,0);
                break;
        }
    }
})();

var updateStepper = (function() {
    var position = 0;
    var direction = 1;

    return function() {
        // do stepping here
        if(position >= 128) {
            b.rcLED("GREEN",0);
            b.rcLED("RED",1);
            direction = -1;
        } else if(position <= -128) {
            b.rcLED("GREEN",1);
            b.rcLED("RED",0);
            direction = 1;
        }
        step(direction);
        position += direction;
        process.stdout.write("Position: " + position + "    \r");
    }
})();


setInterval(updateStepper, 10);

@jadonk,

Sir...is this software for the MotorCape on the BBB or variation? I have been testing the software I keep coming up w/ on the BBBW to test for random motors.

I have failed. I talked w/ a person on #beagle on Freenode. He stated something about the .dts file needs changing. Am I going to need to supply the current .dts file, https://github.com/RobertCNelson/bb.org-overlays/blob/master/src/arm/BBORG_MOTOR-00A2.dts, to my /boot dir. under the file uEnv.txt in the u-boot overlays section?

I am asking b/c I wrote up some simple software to test for a stepper and an additional DC motor (6v).

Seth

P.S. I could not get the motors running. I know I am missing something. Please send ideas if you can find time. Thank you, sir.

@silver2row this is for BeagleBone Blue.

@jadonk

Okay...I just say this reply. Thank you.

Seth