My final project requires almost no output devices except for a servo motor. Instead, I'm planning on incorporating multiple input devices (sensors) into my design. It is for this reason that I gave myself an easier time for this assignment and spent the majority of my efforts on testing for my final project.

Stepper Motor

The stepper motor is an output device that I haven't worked with before. It provides absolute positioning like the servo, but in "steps" and not angle. I built a circuit that controls the stepper motor's speed and orientation with a potentiometer.

Here is the code I used for this.

/*
This code is based on the Stepper motor code that Tom Igoe wrote on 30 Nov. 2009
*/

#include <Stepper.h>

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 11, 10, 9, 8);

int stepCount = 0;         // number of steps the motor has taken

int potPin = A0; // define potentiometer pin

void setup() {
  // initialize the serial port:
  Serial.begin(9600);
  // setup potentiometer pin as input
  pinMode(potPin, INPUT);
}

void loop() {
  int motorDirection;

  //read and transform potentiometer reading
  int analogReading = analogRead(potPin);

  int motorSpeed = map(analogReading, 0, 1023, -50, 50); // map the 10 bit analog reading to the speed of the motor (which will be the length of the delay)

  if (motorSpeed > 0) { // get direction of the motor
    motorDirection = -1;
  }
  else if (motorSpeed < 0) {
    motorDirection = 1;
  }
  else {
    motorDirection = 0;
  }
    // step one step in the specified direction.
  myStepper.step(motorDirection);
  
  // I have to tranform the speed a bit since the bigger the delay, the slower the speed
  motorSpeed = 51 - abs(motorSpeed)
  
  Serial.print("motor speed:");
  Serial.println(motorSpeed);
  // the delay determines the speed of the motor
  delay(motorSpeed); 
}
                

And here is the final result.