/*
 * Unipolar stepper motor speed and direction control with Arduino and joystick
*/
 
// include Arduino stepper motor library
#include <Stepper.h>
 
// define number of steps per revolution
#define STEPS 32
 
// define stepper motor control pins
#define IN1  11
#define IN2  10
#define IN3   9
#define IN4   8
 
// initialize stepper library
Stepper stepper(STEPS, IN4, IN2, IN3, IN1);
 
// joystick pot output is connected to Arduino A0
#define joystick  A0
 
void setup()
{
  
}
void loop()
{
  int val = analogRead(joystick);// read analog value from the potentiometer

  if(  (val > 500) && (val < 523) ) //stop the motor if the joystick is in the middle 
  {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
  }
 
  else
  {
        while (val >= 523) // move the motor in the first direction
    {
      // map the speed between 1 and 100 rpm
      int speed_ = map(val, 523, 1023, 1, 10);
      // set motor speed
      stepper.setSpeed(speed_);
      // move the motor (1 step)
      stepper.step(1);
 
      val = analogRead(joystick);
    }
         while (val <= 500) // move the motor in the other direction
    {
      // map the speed between 1 and 100 rpm
      int speed_ = map(val, 500, 0, 1, 10);
      // set motor speed
      stepper.setSpeed(speed_);
 
      // move the motor (1 step)
      stepper.step(-1);
 
      val = analogRead(joystick);
    }
 
  }
 
}