First push

Code/Arduino Code/Test/GoOnUserInput/GoOnUserInput.ino

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+/* This example shows basic use of the AMIS-30543 stepper motor
+driver.
+
+It shows how to initialize the driver, set the current limit, set
+the micro-stepping mode, and enable the driver.  It shows how to
+send pulses to the NXT/STEP pin to get the driver to take steps
+and how to switch directions using the DIR pin.  The DO pin is
+not used and does not need to be connected.
+
+Before using this example, be sure to change the
+setCurrentMilliamps line to have an appropriate current limit for
+your system.  Also, see this library's documentation for
+information about how to connect the driver:
+
+    http://pololu.github.io/amis-30543-arduino/
+*/
+
+#include <SPI.h>
+#include <AMIS30543.h>
+#include <Encoder.h>
+
+const uint8_t amisDirPin = 2;
+const uint8_t amisStepPin = 3;
+const uint8_t amisSlaveSelect = SS;
+
+AMIS30543 stepper;
+int a = 500;
+int b = 270;
+int usr;
+
+Encoder slidePos(0, 1); //Use pins 0 + 1 as they are both interupt pins.
+
+void setup()
+{
+  SPI.begin();
+  stepper.init(amisSlaveSelect);
+  // Drive the NXT/STEP and DIR pins low initially.
+  digitalWrite(amisStepPin, LOW);
+  pinMode(amisStepPin, OUTPUT);
+  digitalWrite(amisDirPin, LOW);
+  pinMode(amisDirPin, OUTPUT);
+
+  // Give the driver some time to power up.
+  delay(1);
+
+  // Reset the driver to its default settings.
+  stepper.resetSettings();
+
+  // Set the current limit.  You should change the number here to
+  // an appropriate value for your particular system.
+  stepper.setCurrentMilliamps(a);
+
+  // Set the number of microsteps that correspond to one full step.
+  stepper.setStepMode(4);
+
+  // Enable the motor outputs.
+  stepper.enableDriver();
+  Serial.begin(9600);
+  stepper.sleep();
+}
+
+void loop()
+{
+  while(!Serial){}
+  Serial.print("0 for zero, 6 prints current pos, any other # probes\n"); //Going to write a 
+  while(!Serial.available()){}
+  while(!Serial.available()){}
+  usr = Serial.parseInt();
+  if(usr == 0){
+    slidePos.write(0);
+  }else if(usr == 6){
+    output();
+  }else{
+  // Step in the default direction 1000 times.
+  stepper.sleepStop();
+  setDirection(0);
+  for (unsigned int x = 0; x < 100; x++)
+  {
+    step();
+  }
+  stepper.setCurrentMilliamps(b);
+  for (unsigned int x = 0; x < 9900; x++)
+  {
+    step();
+  }
+  output();
+  delay(500);
+  
+  stepper.setCurrentMilliamps(1500);
+  
+
+  // Step in the other direction 1000 times.
+  while(abs(slidePos.read())!=0)
+  {
+    setDirection(slidePos.read() >0 ? 1:0);
+    step();
+  }
+  stepper.setCurrentMilliamps(a);
+  Serial.println();
+  stepper.sleep();
+}
+}
+
+// Sends a pulse on the NXT/STEP pin to tell the driver to take
+// one step, and also delays to control the speed of the motor.
+void step()
+{
+  // The NXT/STEP minimum high pulse width is 2 microseconds.
+  digitalWrite(amisStepPin, HIGH);
+  delayMicroseconds(3);
+  digitalWrite(amisStepPin, LOW);
+  delayMicroseconds(3);
+
+  // The delay here controls the stepper motor's speed.  You can
+  // increase the delay to make the stepper motor go slower.  If
+  // you decrease the delay, the stepper motor will go fast, but
+  // there is a limit to how fast it can go before it starts
+  // missing steps.
+  delayMicroseconds(600);
+}
+
+// Writes a high or low value to the direction pin to specify
+// what direction to turn the motor.
+void setDirection(bool dir)
+{
+  // The NXT/STEP pin must not change for at least 0.5
+  // microseconds before and after changing the DIR pin.
+  delayMicroseconds(1);
+  digitalWrite(amisDirPin, dir);
+  delayMicroseconds(1);
+}
+
+void output(){
+  Serial.print("mm: ");
+  Serial.print((float)slidePos.read()/100.0, DEC);
+  Serial.print("\npulses: ");
+  Serial.print(slidePos.read(), DEC);
+  Serial.print("\n");
+}

Code/Arduino Code/Test/glassScaleTest/glassScaleTest.ino

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+#include <SPI.h>
+#include <AMIS30543.h>
+#include <Encoder.h>
+
+const uint8_t amisDirPin = 2;
+const uint8_t amisStepPin = 3;
+const uint8_t amisSlaveSelect = SS;
+
+AMIS30543 stepper;
+int a = 1000;
+int b = 1000;
+
+int toTake, taken;
+
+Encoder slidePos(0, 1);
+volatile byte first = 0;
+
+
+void setup()
+{
+  SPI.begin();
+  stepper.init(amisSlaveSelect);
+  // Drive the NXT/STEP and DIR pins low initially.
+  digitalWrite(amisStepPin, LOW);
+  pinMode(amisStepPin, OUTPUT);
+  digitalWrite(amisDirPin, LOW);
+  pinMode(amisDirPin, OUTPUT);
+
+  // Give the driver some time to power up.
+  delay(1);
+  taken = 0;
+  // Reset the driver to its default settings.
+  stepper.resetSettings();
+
+  // Set the current limit.  You should change the number here to
+  // an appropriate value for your particular system.
+  stepper.setCurrentMilliamps(a);
+
+  // Set the number of microsteps that correspond to one full step.
+  stepper.setStepMode(4);
+
+  // Enable the motor outputs.
+  stepper.enableDriver();
+  Serial.begin(9600);
+
+  stepper.sleep();
+  while(!Serial){}
+  slidePos.write(0);
+}
+
+void loop()
+{
+  // Step in the default direction 1000 times.
+  stepper.sleepStop();
+  setDirection(1);
+  toTake = random(6000, 12000);
+  for (unsigned int x = 0; x < toTake; x++)
+  {
+    step();
+  }
+  output();
+  delay(500);
+  // Step in the other direction 1000 times.
+  setDirection(0);
+  while(abs(slidePos.read()) > 5)
+  {
+    step();
+    taken++;
+  }
+  output();
+  Serial.print("Steps taken: ");
+  Serial.println(taken, DEC);
+  Serial.println();
+  taken = 0;
+  stepper.sleep();
+  delay(500);
+}
+
+// Sends a pulse on the NXT/STEP pin to tell the driver to take
+// one step, and also delays to control the speed of the motor.
+void step()
+{
+  // The NXT/STEP minimum high pulse width is 2 microseconds.
+  digitalWrite(amisStepPin, HIGH);
+  delayMicroseconds(3);
+  digitalWrite(amisStepPin, LOW);
+  delayMicroseconds(3);
+
+  // The delay here controls the stepper motor's speed.  You can
+  // increase the delay to make the stepper motor go slower.  If
+  // you decrease the delay, the stepper motor will go fast, but
+  // there is a limit to how fast it can go before it starts
+  // missing steps.
+  delayMicroseconds(600);
+}
+
+// Writes a high or low value to the direction pin to specify
+// what direction to turn the motor.
+void setDirection(bool dir)
+{
+  // The NXT/STEP pin must not change for at least 0.5
+  // microseconds before and after changing the DIR pin.
+  delayMicroseconds(1);
+  digitalWrite(amisDirPin, dir);
+  delayMicroseconds(1);
+}
+
+
+void output(){
+  Serial.print("mm: ");
+  Serial.print((float)slidePos.read()/100.0, DEC);
+  Serial.print("\npulses: ");
+  Serial.print(slidePos.read(), DEC);
+  Serial.print("\n");
+}