２つのスイッチでコントロール

右のスイッチを押すと時計回りに45°

左のスイッチを押すと反時計回りに45°

回転します

サンプルコード

#include <SPI.h>
#include "L6470SPIStepper.h"

#define PIN_SPI_MOSI 11
#define PIN_SPI_MISO 12
#define PIN_SPI_SCK 13
#define PIN_SPI_SS 10
#define PIN_BUSY 9

#define RIGHT_SW 4
#define LEFT_SW 3

L6470SPIStepper stepper(PIN_SPI_MOSI, PIN_SPI_MISO, PIN_SPI_SCK, PIN_SPI_SS, PIN_BUSY);

int val_r = 0;
int val_l = 0;

void setup()
{
  Serial.begin(9600);
  Serial.setTimeout(5000);

  delay(500);
  stepper.setup(L6470_MODE_QUICK);
  stepper.setPower(0x1F, 0xFF, 0xFF, 0xFF);
  stepper.setStepResolution(L6470_RESOLUTION_128_PER_ONE_STEP);

  pinMode(LEFT_SW, INPUT);
  pinMode(RIGHT_SW, INPUT);
}

void loop(){
  val_r = digitalRead(RIGHT_SW);
  val_l = digitalRead(LEFT_SW);

  if(val_r == HIGH){  
      stepper.runByAngular(45);
      stepper.busydelay(500);  
  }else if(val_l == HIGH){
    stepper.runByAngular(-45);
    stepper.busydelay(500);  
  }  
}