スイッチでモーター制御

サンプルコード1(スイッチを押す度に90°ずつ軸が回る)

#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 TACT_SW 4

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

int val = 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(TACT_SW, INPUT);
}

void loop(){
  val = digitalRead(TACT_SW);

  if(val == HIGH){
    stepper.runByAngular(90);
    stepper.busydelay(500);
  }
}