Stepper-Motor-Microstepping

This contains code for operating a stepper motor for microstepping using a motor drive and 24V-6A power source.

Sub repository Arduino has code for operating stepper motor using arduino and it prints data on serial monitor of arduino IDE.

Sub repository scripts contains Arduino code and python code using pyserial for controlling stepper through linux shell using UART comunication.

Sub repository stepper_driver_ros_control_microstepping is a ROS package for driving stepper motor NEMA 23 and it has a python node using pyserial library which publishes the motor status on a ROS topic and a subscribes on the /interrupt ROS topic. The package offers functionality of software interrupt and can be accessed by publishing on /interrupt topic:

1) publish 'a' to stop the motor

2) publish 'b' to start the motor again

3) publish 'c' to reset the arduino