void loop()

{

static int i=0;

//motor4 reverse in every 1.5 seconds

reverse_4();

//Stepping motor (Group A) reverse in every 3 seconds

if((++i%2) == 0) {

reverse_SA();

i=0;

}

delay(1500);

}

Program Function: group A stepper motors (M1A(A+), M1B(A-), M2A(B+), M2B(B-)) reverse in every

3s and group 4 DC motor (M4A(+), M4B(-))reverse in every 1.5s.

Functions:

1. Create a stepper motor object.

2. DFRobot_Stepper stepperA(SA): SA represents group A stepper motors (M1A (A+),

M1B (A-), M2A (B+), M2B(B-))

3. Create a DC motor object.

4. DFRobot_Motor (M4): M4 represents group 4 DC motors (M4A (+), M4B (-))

5. Initiate the motor drive, read Product ID and Version ID, and print to the serial port.

6. init()

7. Set the rotation direction of the DC motor and start to rotate.

8. start(dir)

dir=CW: rotate in C.W.(Clockwise) dir=CCW: rotate in anti-clockwi

se

9. Set angle, speed, direction of the stepper motor rotation and start to rotate.

10.

angle: set the rotation resolution. The maximum resolution is

0.9°, w

hich means the minimum rotate angle is 0.9°.

11.

So that the motor won’t rotate if the resolution set to be 0.1° and on

ly rotate to 0.9° if the resolution set to be 1°.