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// The following is a simple stepper motor control procedures, 
# define EN 8 // stepper motor enable , active low 
# define X_DIR 5 // X -axis stepper motor direction control 
# define Y_DIR 6 // y -axis stepper motor direction control 
# define Z_DIR 7 // z axis stepper motor direction control 
# define X_STP 2 // x -axis stepper control 
# define Y_STP 3 // y -axis stepper control 
# define Z_STP 4 // z -axis stepper control 
/* 
// Function : step . function: to control the direction of the stepper motor , the number of steps . 
// Parameters : dir direction control , dirPin corresponding stepper motor DIR pin , stepperPin corresponding stepper motor " step " pin , Step number of step of no return value. 
*/ 
void step (boolean dir, byte dirPin, byte stepperPin, int steps) 
{ 
digitalWrite (dirPin, dir); 
delay (50); 
for (int i = 0; i <steps; i + +) { 
digitalWrite (stepperPin, HIGH); 
delayMicroseconds (800); 
digitalWrite (stepperPin, LOW); 
delayMicroseconds (800); 
} 
} 
void setup () {/ / The stepper motor used in the IO pin is set to output 
pinMode (X_DIR, OUTPUT); pinMode (X_STP, OUTPUT); 
pinMode (Y_DIR, OUTPUT); pinMode (Y_STP, OUTPUT); 
pinMode (Z_DIR, OUTPUT); pinMode (Z_STP, OUTPUT); 
pinMode (EN, OUTPUT); 
digitalWrite (EN, LOW); 
} 
void loop () { 
step (false, X_DIR, X_STP, 200); / / X axis motor reverse 1 ring, the 200 step is a circle. 
step (false, Y_DIR, Y_STP, 200); / / y axis motor reverse 1 ring, the 200 step is a circle. 
step (false, Z_DIR, Z_STP, 200); / / z axis motor reverse 1 ring, the 200 step is a circle. 
delay (1000); 
step (true, X_DIR, X_STP, 200); / / X axis motor forward 1 laps, the 200 step is a circle. 
step (true, Y_DIR, Y_STP, 200); / / y axis motor forward 1 laps, the 200 step is a circle. 
step (true, Z_DIR, Z_STP, 200); / / z axis motor forward 1 laps, the 200 step is a circle. 
delay (1000); 
}