{"id":10296,"date":"2019-10-29T08:10:52","date_gmt":"2019-10-29T11:10:52","guid":{"rendered":"https:\/\/arduxop.com.br\/loja\/?p=10296"},"modified":"2020-12-30T12:43:05","modified_gmt":"2020-12-30T14:43:05","slug":"tudo-sobre-driver-a4988-e-motor-de-passo-usando-o-arduino","status":"publish","type":"post","link":"https:\/\/arduxop.com.br\/loja\/tudo-sobre-driver-a4988-e-motor-de-passo-usando-o-arduino\/","title":{"rendered":"Tudo sobre DRIVER A4988 e Motor de Passo > Usando o Arduino"},"content":{"rendered":"<div class=\"section section-post-header\">\n<div class=\"section_wrapper clearfix\">\n<div class=\"column one post-header\">\n<div class=\"title_wrapper\">\n<h1 class=\"entry-title\">Tudo sobre DRIVER A4988 e Motor de Passo &gt; Usando o Arduino<\/h1>\n<\/div>\n<\/div>\n<div class=\"column one single-photo-wrapper image\">\n<div class=\"image_frame scale-with-grid \">\n<div class=\"image_wrapper\">\n<div class=\"mask\"><\/div>\n<div><img fetchpriority=\"high\" decoding=\"async\" class=\"scale-with-grid wp-post-image lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Driver-A4988-1200x480.jpg\" alt=\"\" width=\"1200\" height=\"480\" data-src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Driver-A4988-1200x480.jpg\" \/><\/div>\n<div class=\"image_links\"><\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"post-wrapper-content\">\n<div class=\"section the_content has_content\">\n<div class=\"section_wrapper\">\n<div class=\"the_content_wrapper\">\n<div class=\"at-above-post addthis_tool\" data-url=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/\"><\/div>\n<p>&nbsp;<\/p>\n<h2>Nesse tutorial\u00a0 <strong>DRIVER A4988 + Motor de Passo &gt; Usando o Arduino<\/strong>, voc\u00ea ver\u00e1 :<\/h2>\n<ul>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Como funciona um Motor de passo\">Como funciona um Motor de passo.<\/a><\/h4>\n<\/li>\n<\/ul>\n<ul>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Tipos de Motores de Passo\">Tipos de Motores de Passo.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Unipolar e Bipolar\"><strong>Motores de Passo \u2013 Unipolar e Bipolar \/ Tipos de enrolamentos.<\/strong><\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Especifica\u00e7\u00f5es de Motores de Passo\">Especifica\u00e7\u00f5es de Motores de Passo.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Como funciona o\u00a0 Driver A4988\">Como funciona o\u00a0 Driver A4988.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Modos de passo\">Modos de passo do Driver A4988.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Recomendacoes Importantes\">Recomenda\u00e7\u00f5es importantes antes de usar o M\u00f3dulo A4988.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Montagem do Modulo\">Montagem do M\u00f3dulo Driver A4988 + Motor de Passo.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Ajuste de Corrente\">Ajuste de Corrente do M\u00f3dulo Driver A4988.<\/a><\/h4>\n<\/li>\n<li>\n<h4><a href=\"https:\/\/blog.eletrogate.com\/driver-a4988-motor-de-passo-usando-o-arduino\/#Testes do Driver\">Testes do Driver A4988 + Motor de Passo.<\/a><\/h4>\n<\/li>\n<\/ul>\n<p>O M\u00f3dulo <em><a href=\"https:\/\/www.eletrogate.com\/driver-motor-de-passo-a4988-c-dissipador-de-calor\" target=\"_blank\" rel=\"nofollow noopener noreferrer\"><strong>Driver A4988<\/strong><\/a> <\/em>\u00e9 bem vers\u00e1til e tem sido muito usado no controle dos motores de passo de CNCs e Impressoras 3D. Com esse tutorial voc\u00ea aprender\u00e1 como us\u00e1-lo. Entender\u00e1 como funciona um motor de passo e o Driver A4988. Aprender\u00e1 como configurar o driver para permitir movimentos mais adequados para o seu projeto.<\/p>\n<p>A diferen\u00e7a desse tutorial para os outros sobre A4988, \u00e9 que nele voc\u00ea ter\u00e1 um controle digital dos pinos de sele\u00e7\u00e3o do modo de passo. Nos outros tutoriais, esse controle \u00e9 feito atrav\u00e9s de chaves ! Nada impede, que voc\u00ea despreze esse controle digital e use as chaves para selecionar o modo de passo.<\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"Como funciona um Motor de passo\">Como funciona um Motor de passo :<\/h2>\n<p>Motor de passo \u00e9 um motor el\u00e9trico que n\u00e3o possui escovas ou comutadores, permitindo assim uma vida longa sem tantos desgastes.\u00a0 O rotor constitui-se de um ou mais im\u00e3s permanentes. No estator encontram-se v\u00e1rias bobinas. O controle do motor \u00e9 feito por um circuito eletr\u00f4nico que aciona repetidamente as bobinas numa sequ\u00eancia que permite o giro do rotor. Cada pulso enviado para o circuito, faz com que o motor avance um passo. O sentido de rota\u00e7\u00e3o do motor \u00e9 controlado tamb\u00e9m pela sequ\u00eancia e pela polariza\u00e7\u00e3o das bobinas. A velocidade que o rotor gira\u00a0 \u00e9 determinada pela frequ\u00eancia\u00a0 dos pulsos do circuito de controle. Quanto maior a frequ\u00eancia, maior ser\u00e1 o RPM.<\/p>\n<p>Os motores de passo mais comuns s\u00e3o os que precisam de 200 passos para girar uma volta (revolu\u00e7\u00e3o). Mas existem outros com um menor ou maior n\u00famero de passos, dependendo da aplica\u00e7\u00e3o.<\/p>\n<p>&nbsp;<\/p>\n<div id=\"attachment_3674\" class=\"wp-caption aligncenter\"><img decoding=\"async\" class=\"wp-image-3674 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Nema17_01.jpg\" sizes=\"(max-width: 500px) 100vw, 500px\" alt=\"\" width=\"500\" height=\"375\" aria-describedby=\"caption-attachment-3674\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Nema17_01-300x225.jpg 300w,\/wp-content\/uploads\/2018\/03\/Nema17_01-768x576.jpg 768w,\/wp-content\/uploads\/2018\/03\/Nema17_01-1024x768.jpg 1024w,\/wp-content\/uploads\/2018\/03\/Nema17_01-195x146.jpg 195w,\/wp-content\/uploads\/2018\/03\/Nema17_01-50x38.jpg 50w,\/wp-content\/uploads\/2018\/03\/Nema17_01-100x75.jpg 100w,\/wp-content\/uploads\/2018\/03\/Nema17_01.jpg 1400w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Nema17_01-300x225.jpg\" \/><\/p>\n<p id=\"caption-attachment-3674\" class=\"wp-caption-text\">Motor de passo NEMA-17 desmontado\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 Foto: Gustavo Murta<\/p>\n<\/div>\n<p>&nbsp;<\/p>\n<div id=\"attachment_3675\" class=\"wp-caption alignleft\"><img decoding=\"async\" class=\"wp-image-3675 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Nema17_03.jpg\" sizes=\"(max-width: 350px) 100vw, 350px\" alt=\"\" width=\"350\" height=\"263\" aria-describedby=\"caption-attachment-3675\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Nema17_03-300x225.jpg 300w,\/wp-content\/uploads\/2018\/03\/Nema17_03-768x576.jpg 768w,\/wp-content\/uploads\/2018\/03\/Nema17_03-1024x768.jpg 1024w,\/wp-content\/uploads\/2018\/03\/Nema17_03-195x146.jpg 195w,\/wp-content\/uploads\/2018\/03\/Nema17_03-50x38.jpg 50w,\/wp-content\/uploads\/2018\/03\/Nema17_03-100x75.jpg 100w,\/wp-content\/uploads\/2018\/03\/Nema17_03.jpg 1400w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Nema17_03-300x225.jpg\" \/><\/p>\n<p id=\"caption-attachment-3675\" class=\"wp-caption-text\">Rotor do motor\u00a0 \u00a0 \u00a0 Foto: Gustavo Murta<\/p>\n<\/div>\n<div id=\"attachment_3676\" class=\"wp-caption alignright\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3676 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Nema17_08.jpg\" sizes=\"(max-width: 350px) 100vw, 350px\" alt=\"\" width=\"350\" height=\"263\" aria-describedby=\"caption-attachment-3676\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Nema17_08-300x225.jpg 300w,\/wp-content\/uploads\/2018\/03\/Nema17_08-768x576.jpg 768w,\/wp-content\/uploads\/2018\/03\/Nema17_08-1024x768.jpg 1024w,\/wp-content\/uploads\/2018\/03\/Nema17_08-195x146.jpg 195w,\/wp-content\/uploads\/2018\/03\/Nema17_08-50x38.jpg 50w,\/wp-content\/uploads\/2018\/03\/Nema17_08-100x75.jpg 100w,\/wp-content\/uploads\/2018\/03\/Nema17_08.jpg 1400w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Nema17_08-300x225.jpg\" \/><\/p>\n<p id=\"caption-attachment-3676\" class=\"wp-caption-text\">Estator do motor\u00a0 \u00a0 \u00a0 \u00a0Foto: Gustavo Murta<\/p>\n<\/div>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h2><\/h2>\n<h2 id=\"Tipos de Motores de Passo\">Tipos de Motores de Passo :<\/h2>\n<p>Existem atualmente tr\u00eas tipos de motores de passo:<br \/>\n\u2013 Relut\u00e2ncia vari\u00e1vel<br \/>\n\u2013 Im\u00e3 permanente<br \/>\n\u2013 H\u00edbrido<\/p>\n<p>Os <strong>motores de passo de Relut\u00e2ncia Vari\u00e1vel<\/strong> s\u00e3o os menos comuns, pois n\u00e3o possuem im\u00e3s permanentes. O rotor \u00e9 feito de ferro doce. Os campos magn\u00e9ticos s\u00e3o formados\u00a0por enrolamentos no estator alimentados com corrente cont\u00ednua. S\u00e3o usados em aplica\u00e7\u00f5es especiais com tamanho reduzido ou em tamanho\u00a0maior em aplica\u00e7\u00f5es industriais. O circuito driver \u00e9 diferente dos outros mais comuns. Esse \u00e9 um motor RV :<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3648 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/VRsteppermotor-277x300.jpg\" sizes=\"(max-width: 250px) 100vw, 250px\" alt=\"\" width=\"250\" height=\"271\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/VRsteppermotor-277x300.jpg 277w,\/wp-content\/uploads\/2018\/03\/VRsteppermotor-135x146.jpg 135w,\/wp-content\/uploads\/2018\/03\/VRsteppermotor-46x50.jpg 46w,\/wp-content\/uploads\/2018\/03\/VRsteppermotor-69x75.jpg 69w,\/wp-content\/uploads\/2018\/03\/VRsteppermotor.jpg 343w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/VRsteppermotor-277x300.jpg\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Os <strong>motores de passo com im\u00e3 permanente<\/strong> s\u00e3o motores mais baratos e com menor precis\u00e3o (resolu\u00e7\u00e3o), com passos com \u00e2ngulos de 7,5 a 15 graus (48 a 24 passos por volta).\u00a0S\u00e3o os mais usados em perif\u00e9ricos de computadores, devido ao baixo pre\u00e7o e baixa velocidade. Como o nome j\u00e1 diz, tem im\u00e3s permanentes que produzem maior torque\u00a0do que os motores com relut\u00e2ncia vari\u00e1vel. Os enrolamentos do rotor s\u00e3o magnetizados alternadamente com o polo norte e sul, permitindo uma maior intensidade no \u00a0fluxo magn\u00e9tico.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-3650 aligncenter lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/PMsteppermotor-300x151.png\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"151\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/PMsteppermotor-300x151.png 300w,\/wp-content\/uploads\/2018\/03\/PMsteppermotor-260x131.png 260w,\/wp-content\/uploads\/2018\/03\/PMsteppermotor-50x25.png 50w,\/wp-content\/uploads\/2018\/03\/PMsteppermotor-150x75.png 150w,\/wp-content\/uploads\/2018\/03\/PMsteppermotor.png 540w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/PMsteppermotor-300x151.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Os <strong>motores de passo h\u00edbridos<\/strong> s\u00e3o os motores mais sofisticados e mais caros, pois produzem melhor performance e maior velocidade devido ao menor angulo por passo. Os \u00e2ngulos por passo podem variar entre 3,6 a 0,9 graus (100 a 400 passos por volta !) Esse motor possui as melhores caracter\u00edsticas dos outros dois tipos de motor , IP e RV. O rotor \u00e9 multi-dentado como o motor de RV, e tem dois magnetos polarizados presos ao eixo. Essa estrutura permite melhores caracter\u00edsticas de torque din\u00e2mico e de travamento. Por terem maior precis\u00e3o, s\u00e3o os mais usados em fresadoras, impressoras 3D, etc.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-3651 aligncenter lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor-300x145.png\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"145\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor-300x145.png 300w,\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor-260x126.png 260w,\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor-50x24.png 50w,\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor-150x73.png 150w,\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor.png 588w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Hybridsteppermotor-300x145.png\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Refer\u00eancias :<br \/>\n<em><a href=\"http:\/\/www.solarbotics.net\/library\/pdflib\/pdf\/motorbas.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">http:\/\/www.solarbotics.net\/library\/pdflib\/pdf\/motorbas.pdf<\/a><\/em><br \/>\n<em><a href=\"https:\/\/www.astrosyn.com\/wp-content\/uploads\/2015\/10\/Guide-to-Stepper-Motor-Selection.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">https:\/\/www.astrosyn.com\/wp-content\/uploads\/2015\/10\/Guide-to-Steppe\u2026<\/a><\/em><br \/>\n<a href=\"http:\/\/www.geckodrive.com\/support\/step-motor-basics.html\" target=\"_blank\" rel=\"nofollow noopener noreferrer\"><em>http:\/\/www.geckodrive.com\/support\/step-motor-basics.html<\/em><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"Unipolar e Bipolar\">Motores de Passo \u2013 Unipolar e Bipolar \/ Tipos de enrolamentos :<\/h2>\n<p>Normalmente motores de passo tem duas fases, mas podem existir motores com tr\u00eas ou cinco fases tamb\u00e9m.<br \/>\nDependendo do enrolamento dos motores de passo, podemos ter motores Unipolares ou Bipolares:<\/p>\n<p><strong>Motores de Passo \u2013 UNIPOLAR<\/strong><\/p>\n<p>Motores Unipolares tem \u00a0fases (duas) com enrolamentos com um terminal central, por isso s\u00e3o consideradas por alguns, por terem quatro fases com um enrolamento para cada fase.<br \/>\nNesse tipo de motor, cada fase \u00e9 energizada por um circuito driver num \u00fanico sentido de corrente somente. Isto \u00e9, uma extremidade do enrolamento ser\u00e1 sempre positiva e a outra sempre negativa. O driver pode ser implementado com um transistor apenas. A desvantagem do motor unipolar \u00e9 que tem menos torque do que o bipolar similar, pois sempre ter\u00e1 no m\u00e1ximo, a metade das fases energizadas. Da\u00ed pode-se concluir que tem 50% da efici\u00eancia em rela\u00e7\u00e3o ao bipolar.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3654 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Unipolardrive-300x230.jpg\" sizes=\"(max-width: 400px) 100vw, 400px\" alt=\"\" width=\"400\" height=\"307\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Unipolardrive-300x230.jpg 300w,\/wp-content\/uploads\/2018\/03\/Unipolardrive-190x146.jpg 190w,\/wp-content\/uploads\/2018\/03\/Unipolardrive-50x38.jpg 50w,\/wp-content\/uploads\/2018\/03\/Unipolardrive-98x75.jpg 98w,\/wp-content\/uploads\/2018\/03\/Unipolardrive.jpg 579w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Unipolardrive-300x230.jpg\" \/><\/p>\n<p><strong>Motores de Passo \u2013 BIPOLAR<\/strong><\/p>\n<p>Motores bipolares, como o nome j\u00e1 diz tem duas fases, normalmente um enrolamento por fase.<br \/>\nA corrente no enrolamento precisa ser invertida para reverter um p\u00f3lo magn\u00e9tico. Por isso , o circuito driver \u00e9 mais complicado e geralmente utiliza-se de duas pontes-H. Pelo fato de serem melhores utilizados, eles s\u00e3o mais poderosos do que um motor unipolar do mesmo tamanho.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3655 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolardrive-300x228.jpg\" sizes=\"(max-width: 400px) 100vw, 400px\" alt=\"\" width=\"400\" height=\"305\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Bipolardrive-300x228.jpg 300w,\/wp-content\/uploads\/2018\/03\/Bipolardrive-192x146.jpg 192w,\/wp-content\/uploads\/2018\/03\/Bipolardrive-50x38.jpg 50w,\/wp-content\/uploads\/2018\/03\/Bipolardrive-98x75.jpg 98w,\/wp-content\/uploads\/2018\/03\/Bipolardrive.jpg 587w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolardrive-300x228.jpg\" \/><\/p>\n<p><strong>Tipos de Enrolamentos :<\/strong><\/p>\n<p>Motores que tem quatro enrolamentos separados por fase podem existir. Desse tipo, eles podem ser usados tanto no modo Unipolar quanto no modo bipolar. Mas somente se os quatro enrolamentos estiverem isolados !<\/p>\n<p>Dependendo das conex\u00f5es dos enrolamentos os motores podem ter quatro fios (modo \u00a0Bipolar), cinco, seis ou oito fios.\u00a0Para motores com cinco fios, somente pode ser usado o modo Unipolar. Mas para seis e oito fios, temos algumas varia\u00e7\u00f5es bem interessantes.<\/p>\n<div id=\"attachment_3656\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3656 size-medium lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolar4fios-300x250.jpg\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"250\" aria-describedby=\"caption-attachment-3656\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Bipolar4fios-300x250.jpg 300w,\/wp-content\/uploads\/2018\/03\/Bipolar4fios-175x146.jpg 175w,\/wp-content\/uploads\/2018\/03\/Bipolar4fios-50x42.jpg 50w,\/wp-content\/uploads\/2018\/03\/Bipolar4fios-90x75.jpg 90w,\/wp-content\/uploads\/2018\/03\/Bipolar4fios.jpg 317w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolar4fios-300x250.jpg\" \/><\/p>\n<p id=\"caption-attachment-3656\" class=\"wp-caption-text\"><strong>\u00a0Motor Bipolar \u2013 quatro\u00a0 fios <\/strong><\/p>\n<\/div>\n<p>&nbsp;<\/p>\n<div id=\"attachment_3657\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3657 size-full lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios.jpg\" sizes=\"(max-width: 668px) 100vw, 668px\" alt=\"\" width=\"668\" height=\"275\" aria-describedby=\"caption-attachment-3657\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios.jpg 668w,\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios-300x124.jpg 300w,\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios-260x107.jpg 260w,\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios-50x21.jpg 50w,\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios-150x62.jpg 150w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Unipolar5e6fios.jpg\" \/><\/p>\n<p id=\"caption-attachment-3657\" class=\"wp-caption-text\"><strong>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 Motores Unipolares\u00a0 \u2013 Seis e Cinco fios\u00a0<\/strong><\/p>\n<\/div>\n<p>&nbsp;<\/p>\n<div id=\"attachment_3663\" class=\"wp-caption alignleft\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3663 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolarparalelo8fios.jpg\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"281\" aria-describedby=\"caption-attachment-3663\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Bipolarparalelo8fios.jpg 280w,\/wp-content\/uploads\/2018\/03\/Bipolarparalelo8fios-156x146.jpg 156w,\/wp-content\/uploads\/2018\/03\/Bipolarparalelo8fios-50x47.jpg 50w,\/wp-content\/uploads\/2018\/03\/Bipolarparalelo8fios-80x75.jpg 80w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolarparalelo8fios.jpg\" \/><\/p>\n<p id=\"caption-attachment-3663\" class=\"wp-caption-text\"><strong>Motor Bipolar-paralelo \/ 8 fios <\/strong><\/p>\n<\/div>\n<div id=\"attachment_3664\" class=\"wp-caption alignright\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3664 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolarsrie8fios.jpg\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"273\" aria-describedby=\"caption-attachment-3664\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Bipolarsrie8fios.jpg 283w,\/wp-content\/uploads\/2018\/03\/Bipolarsrie8fios-160x146.jpg 160w,\/wp-content\/uploads\/2018\/03\/Bipolarsrie8fios-50x46.jpg 50w,\/wp-content\/uploads\/2018\/03\/Bipolarsrie8fios-82x75.jpg 82w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Bipolarsrie8fios.jpg\" \/><\/p>\n<p id=\"caption-attachment-3664\" class=\"wp-caption-text\"><strong>Motor Bipolar-s\u00e9rie \/ 8 fios<\/strong><\/p>\n<\/div>\n<p>&nbsp;<\/p>\n<p><strong>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<\/strong><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<div id=\"attachment_3669\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3669 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Unipolar8fios.jpg\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"275\" aria-describedby=\"caption-attachment-3669\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Unipolar8fios.jpg 285w,\/wp-content\/uploads\/2018\/03\/Unipolar8fios-159x146.jpg 159w,\/wp-content\/uploads\/2018\/03\/Unipolar8fios-50x46.jpg 50w,\/wp-content\/uploads\/2018\/03\/Unipolar8fios-82x75.jpg 82w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Unipolar8fios.jpg\" \/><\/p>\n<p id=\"caption-attachment-3669\" class=\"wp-caption-text\"><strong>Motor Unipolar \/ 8 fios<\/strong><\/p>\n<\/div>\n<p><strong>Refer\u00eancias <em>:<\/em><\/strong><br \/>\n<em><a href=\"https:\/\/learn.adafruit.com\/all-about-stepper-motors\/types-of-steppers\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">https:\/\/learn.adafruit.com\/all-about-stepper-motors\/types-of-steppers<\/a><\/em><br \/>\n<em><a href=\"http:\/\/www.kocomotion.de\/fileadmin\/pages\/10_PRODUKTE\/Dings\/Dings_hybrid-steppermotors.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">http:\/\/www.kocomotion.de\/fileadmin\/pages\/10_PRODUKTE\/Dings\/Dings_hy\u2026<\/a><\/em><br \/>\n<em><a href=\"http:\/\/www.ece.mtu.edu\/labs\/EElabs\/EE2304\/EE2304_website_2008\/Stepper%20Motor%20Resources\/Airpax_Catalog_Idx.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">http:\/\/www.ece.mtu.edu\/labs\/EElabs\/EE2304\/EE2304_website_2008\/Stepp\u2026<\/a><\/em><br \/>\n<em><a href=\"http:\/\/www.nmbtc.com\/pm-step-motors\/engineering\/pdf\/pm_select.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">http:\/\/www.nmbtc.com\/pm-step-motors\/engineering\/pdf\/pm_select.pdf<\/a><\/em><\/p>\n<h2><\/h2>\n<p>&nbsp;<\/p>\n<h2 id=\"Especifica\u00e7\u00f5es de Motores de Passo\">Especifica\u00e7\u00f5es de Motores de Passo:<\/h2>\n<p>\u00c9 importante entender as especifica\u00e7\u00f5es de um Motor de Passo, para que possa fazer uma escolha correta para um Driver de Motor. Nunca exceda as limita\u00e7\u00f5es de um Motor ou de um Driver, pois assim poder\u00e1 danific\u00e1-los.<\/p>\n<p>Esse \u00e9 o link de um dos maiores e mais antigos fabricantes de Motores de Passo do Jap\u00e3o:<\/p>\n<p><em><a href=\"http:\/\/www.eminebea.com\/en\/product\/rotary\/steppingmotor\/hybrid\/standard\/\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">Link de Motores de Passo Minebea<\/a>\u00a0<\/em><\/p>\n<p>Especifica\u00e7\u00f5es de um Motor <strong>Minebea 17PM-K053B :<\/strong> (exemplo)<\/p>\n<ul>\n<li>Step angle\u00a0 = 1,8\u00ba\u00a0 (\u00e2ngulo de cada passo)<\/li>\n<li>Drive sequence = Bipolar (duas fases)<\/li>\n<li>Rated current =\u00a0 1,2 A\u00a0 (m\u00e1xima corrente a ser aplicada nas bobinas do motor)<\/li>\n<li>Resistance = 2,2 ohms (resist\u00eancia ohmica em cada bobina)<\/li>\n<li>Holding Torque = 270 mNm ( torque de reten\u00e7\u00e3o do motor)<\/li>\n<li>Inductance = 4,6 mH ( indut\u00e2ncia de cada bobina)<\/li>\n<li>Rotor Inertia = 37 g.cm\u00b2 (in\u00e9rcia do rotor em grama x cent\u00edmetro\u00a0\u00b2)<\/li>\n<li>Detent Torque = 11 mNm\u00a0 (Torque detente)<\/li>\n<li>Mass = 200 g\u00a0 (peso do Motor)<\/li>\n<\/ul>\n<p><strong>Holding Torque<\/strong> = O torque\u00a0 m\u00e1ximo que pode ser aplicado a um motor\u00a0 energizado, sem causar rota\u00e7\u00e3o cont\u00ednua.<\/p>\n<p><strong>Detent Torque<\/strong> =\u00a0O torque necess\u00e1rio para girar um motor de passo n\u00e3o energizado. Este torque resulta do \u00edm\u00e3 do rotor de um motor h\u00edbrido ou de im\u00e3 permanente.<\/p>\n<p>Esse Gr\u00e1fico abaixo representa a varia\u00e7\u00e3o do Torque do motor em rela\u00e7\u00e3o \u00e0 frequ\u00eancia dos pulsos do Driver e RPM do motor. Veja que quanto menor a frequ\u00eancia, maior ser\u00e1 o Torque. Importante saber, que todo motor de passo tem uma frequ\u00eancia m\u00e1xima. Se ultrapassar essa frequ\u00eancia, o motor ir\u00e1 vibrar e parar de girar!<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3723 size-full lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Torquexfrequencia.jpg\" sizes=\"(max-width: 543px) 100vw, 543px\" alt=\"\" width=\"543\" height=\"551\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Torquexfrequencia.jpg 543w,\/wp-content\/uploads\/2018\/03\/Torquexfrequencia-296x300.jpg 296w,\/wp-content\/uploads\/2018\/03\/Torquexfrequencia-144x146.jpg 144w,\/wp-content\/uploads\/2018\/03\/Torquexfrequencia-50x50.jpg 50w,\/wp-content\/uploads\/2018\/03\/Torquexfrequencia-74x75.jpg 74w,\/wp-content\/uploads\/2018\/03\/Torquexfrequencia-85x85.jpg 85w,\/wp-content\/uploads\/2018\/03\/Torquexfrequencia-80x80.jpg 80w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Torquexfrequencia.jpg\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"Como funciona o\u00a0 Driver A4988\">Como funciona o\u00a0 M\u00f3dulo Driver A4988:<\/h2>\n<p>O m\u00f3dulo Driver A4988 possui um chip A4988, resistores e capacitores. O chip A4988 possui duas pontes H com transistores FET DMOS para fazer o controle\u00a0 de motores de passo Bipolares. (motores com quatro, seis ou oito fios). Esse chip n\u00e3o pode controlar motores de passo Unipolares !<\/p>\n<p>Devido ao uso de FETs para os drivers do motor, a resist\u00eancia interna da Ponte H \u00e9 baixa. Isso \u00e9 muito bom, pois diminui bastante a pot\u00eancia despendida e portanto, o calor dissipado \u00e9 bem menor. O chip \u00e9 bem vers\u00e1til, tem prote\u00e7\u00e3o contra curto-circuitos nas sa\u00eddas e prote\u00e7\u00e3o contra excesso de temperatura.<\/p>\n<p>Ele permite cinco modos\u00a0de controle dos passos \u2013 Passo completo(full step), meio passo, um quarto de passo, um oitavo de passo e um dezesseis-avos de passo, os quais chamamos de micro-stepping. A capacidade m\u00e1xima de controle na sa\u00edda \u00e9 de at\u00e9 <strong>35 Volts e +-2 amperes.<\/strong> O chip tem um sofisticado controle de corrente nos motores, que permite o uso, com barulho reduzido, precis\u00e3o apurada e dissipa\u00e7\u00e3o reduzida de pot\u00eancia. N\u00e3o aprofundarei na explica\u00e7\u00e3o do circuitos internos do motor, pois s\u00e3o bem complexos.<\/p>\n<p>Essas s\u00e3o as informa\u00e7\u00f5es (datasheet) do\u00a0<strong>chip A4988<\/strong>:<br \/>\n<em><a href=\"http:\/\/www.allegromicro.com\/en\/Products\/Motor-Driver-And-Interface-ICs\/Bipolar-Stepper-Motor-Drivers\/A4988.aspx\" target=\"_blank\" rel=\"nofollow noopener noreferrer\">http:\/\/www.allegromicro.com\/en\/Products\/Motor-Driver-And-Interface-\u2026<\/a><\/em><\/p>\n<p>No chip, de um lado temos as portas de controle do motor e do outro lado , as conex\u00f5es com o motor e os pinos de monitoramento de corrente. Todas as entradas de controle do motor s\u00e3o compat\u00edveis com os n\u00edveis de 3,3V e 5V, adequadas tanto para os \u00a0Arduinos quanto para os\u00a0 ESP8266, ESP32 e Raspberry PIs. O fabricante do chip \u00e9 a Allegromicro. \u00c9 uma empresa bastante experiente em drivers de motores. E tem muitos outros chips espec\u00edficos para controle de motor.<\/p>\n<p><strong>Pinos do M\u00f3dulo Driver A4988:<\/strong><\/p>\n<ul>\n<li><strong>STEP<\/strong>\u00a0(passo) \u2013 um sinal com transi\u00e7\u00e3o de baixo para alto avan\u00e7a um passo,<\/li>\n<li><strong>DIR<\/strong>\u00a0\u2013 permite a altera\u00e7\u00e3o no sentido da rota\u00e7\u00e3o do motor,<\/li>\n<li><strong>\u2013 ENABLE<\/strong>\u00a0\u2013 um sinal baixo ativa os drivers do motor,<\/li>\n<li><strong>\u2013 RESET<\/strong>\u00a0\u2013 um sinal baixo d\u00e1 um reset no chip, desativando todas os drivers de sa\u00edda,<\/li>\n<li><strong>\u2013 SLEEP<\/strong>\u00a0(dormir) \u2013 esse pino quando negativo, desabilita alguns circuitos internos para economizar energia.<\/li>\n<li><strong>\u00a0MS1, MS2 e MS3<\/strong>\u00a0\u2013 s\u00e3o entradas para selecionar o modo da sequ\u00eancia dos passos (micro stepping) .<\/li>\n<\/ul>\n<p><strong>Algumas informa\u00e7\u00f5es adicionais sobre o chip A4988:<\/strong><\/p>\n<p>O pinos <strong>MS1, MS2 e MS3<\/strong> tem resistores conectados no terra (pull down).\u00a0Portanto se n\u00e3o conectar esses pinos em alguma porta de um microcontrolador, o modo que ser\u00e1 usado \u00e9 o Passo completo ( Full Step).<\/p>\n<p>O pino <strong>-ENABLE<\/strong> tamb\u00e9m tem um resistor conectado no terra (pull down)\u00a0, portanto se n\u00e3o conectar no microcontrolador, o m\u00f3dulo ficar\u00e1 sempre ativo.<\/p>\n<p>J\u00e1 o pino<strong> -SLEEP<\/strong> tem um resistor conectado no VDD (pull up). Portanto se estiver isolado ele nunca ir\u00e1 dormir ..<\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"Modos de passo\">Modos de passo do Driver A4988:<\/h2>\n<p>Esses s\u00e3o os cinco Modos de Passo do Motor, selecionados atrav\u00e9s dos pinos MS1,MS2 e MS3:<\/p>\n<div id=\"attachment_3691\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-3691 lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Tabelamicropasso.jpg\" sizes=\"(max-width: 400px) 100vw, 400px\" alt=\"\" width=\"400\" height=\"138\" aria-describedby=\"caption-attachment-3691\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Tabelamicropasso.jpg 517w,\/wp-content\/uploads\/2018\/03\/Tabelamicropasso-300x103.jpg 300w,\/wp-content\/uploads\/2018\/03\/Tabelamicropasso-260x90.jpg 260w,\/wp-content\/uploads\/2018\/03\/Tabelamicropasso-50x17.jpg 50w,\/wp-content\/uploads\/2018\/03\/Tabelamicropasso-150x52.jpg 150w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Tabelamicropasso.jpg\" \/><\/p>\n<p id=\"caption-attachment-3691\" class=\"wp-caption-text\">Tabela de Modos de Passo<\/p>\n<\/div>\n<p>Os motores de passo mais comuns, s\u00e3o os motores que cada passo corresponde \u00e0 1,8 graus. Como uma revolu\u00e7\u00e3o completa tem 360 graus, portanto esse motor precisa de 200 passos para completar uma volta. Sabemos que para o avan\u00e7o de cada passo \u00e9 necess\u00e1rio um pulso, portanto:<\/p>\n<p><strong>PPR =\u00a0360\u00ba \/ 1,8\u00ba = 200 passos (ou pulsos)\u00a0<\/strong><\/p>\n<p>Esse par\u00e2metro chama-se\u00a0\u00a0<strong>PPR \u2013 pulsos por revolu\u00e7\u00e3o<\/strong>. Veja que quanto menor o\u00a0 modo de passo, maior \u00e9 o n\u00famero PPR, permitindo uma maior precis\u00e3o no controle do motor. <strong>Mas saiba, que o modo micro-passo produz um torque menor do que o modo passo completo, devido \u00e0 redu\u00e7\u00e3o de corrente usada nesse modo.<\/strong><\/p>\n<ul>\n<li><strong>Modo Passo Completo ( Full Step):\u00a0 PPR = 200\u00a0<\/strong><\/li>\n<li><strong>Modo Meio Passo ( Half Step):\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 PPR = 400<\/strong><\/li>\n<li><strong>Modo Micro-passo ( MP 1\/4):\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0PPR = 800<\/strong><\/li>\n<li><strong>Modo Micro-passo ( MP 1\/8):\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0PPR = 1600<\/strong><\/li>\n<li><strong>Modo Micro-passo ( MP 1\/16):\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0PPR= 3200<\/strong><\/li>\n<\/ul>\n<p><strong>Refer\u00eancias sobre Micro-Stepping :<\/strong><\/p>\n<p><a href=\"https:\/\/www.zaber.com\/applications\/technotes_documents\/microstepping_tutorial.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\"><em>https:\/\/www.zaber.com\/applications\/technotes_documents\/microstepping_tutorial.pdf<\/em><\/a><br \/>\n<a href=\"http:\/\/users.ece.utexas.edu\/~valvano\/Datasheets\/StepperMicrostep.pdf\" target=\"_blank\" rel=\"nofollow noopener noreferrer\"><em>http:\/\/users.ece.utexas.edu\/~valvano\/Datasheets\/StepperMicrostep.pdf<\/em><\/a><br \/>\n<a href=\"http:\/\/homepage.cs.uiowa.edu\/~jones\/step\/micro.html\" target=\"_blank\" rel=\"nofollow noopener noreferrer\"><em>http:\/\/homepage.cs.uiowa.edu\/~jones\/step\/micro.html<\/em><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"Recomendacoes Importantes\">Recomenda\u00e7\u00f5es Importantes antes de usar o seu m\u00f3dulo A4988 !<\/h2>\n<p><strong>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0(para evitar de danific\u00e1-lo)\u00a0<\/strong><\/p>\n<ul>\n<li>Esse m\u00f3dulo foi feito para motores de passo Bipolar, n\u00e3o use um motor unipolar. (exceto se o motor Unipolar puder ser usado no modo Bipolar)<\/li>\n<li>Antes de fazer a conex\u00e3o dos fios das bobinas do motor, certifique-se que a identifica\u00e7\u00e3o dos fios esta correta. Recomendo que me\u00e7a o valor da resist\u00eancia das bobinas.<\/li>\n<li>Use um motor que se encaixe nas especifica\u00e7\u00f5es do m\u00f3dulo \u2013 tens\u00e3o m\u00e1xima 35V e corrente m\u00e1xima de 2 A.<\/li>\n<li>Se estiver usando duas fontes separadas, alimente primeiramente a fonte de 5V (Arduino) e depois a de 12V (Driver A4988).<\/li>\n<li>Conecte os fios das bobinas do motor no m\u00f3dulo A4988, antes de energiz\u00e1-lo.<\/li>\n<li>N\u00e3o desconecte os fios da bobina, quando o m\u00f3dulo A4988 estiver energizado.<\/li>\n<li>Se o m\u00f3dulo A4988 estiver aquecendo muito, cole o dissipador no chip.<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h2 id=\"Montagem do Modulo\">Montagem do Driver A4988 + Motor de Passo<\/h2>\n<p>Para testes, montei um circuito do M\u00f3dulo Driver A4988 conectado \u00e0 um\u00a0 motor de passo NEMA17, sendo controlado por um Arduino Nano (ou outro modelo de Arduino). Normalmente encontra-se na WEB, in\u00fameros circuitos desses, mas somente controlando os pinos de sentido de rota\u00e7\u00e3o (DIR) e dos pulsos dos passos (STEP). Para permitir um controle total do Driver A4988, na minha montagem todos os pinos de controle est\u00e3o conectados \u00e0s portas digitais do Arduino.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3738 size-large lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-976x1024.jpg\" sizes=\"(max-width: 976px) 100vw, 976px\" alt=\"\" width=\"976\" height=\"1024\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-976x1024.jpg 976w,\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-286x300.jpg 286w,\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-768x806.jpg 768w,\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-139x146.jpg 139w,\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-48x50.jpg 48w,\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-71x75.jpg 71w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/A4988ArduinoNano-976x1024.jpg\" \/><\/p>\n<p><strong>\u00a0Observa\u00e7\u00f5es importantes :<\/strong><\/p>\n<ul>\n<li>\n<ul>\n<li>\n<ul>\n<li>A tens\u00e3o de alimenta\u00e7\u00e3o do Motor deve ser entre 8V e 35 V (n\u00e3o poder\u00e1 usar motores com 5V somente).<\/li>\n<li>A fonte de alimenta\u00e7\u00e3o do Motor dever\u00e1 suportar 2 ou mais amperes.<\/li>\n<li>A corrente n\u00e3o pode ultrapassar 2A em cada bobina do motor.<\/li>\n<li>Use um capacitor (C1) \u00a0de no m\u00ednimo 100 uF para filtrar ru\u00eddos na alimenta\u00e7\u00e3o 12V do motor.<\/li>\n<li>Use um capacitor (C2) \u00a0de no m\u00ednimo 10 uF para filtrar ru\u00eddos na alimenta\u00e7\u00e3o 5V do chip A4988.<\/li>\n<li>N\u00e3o se esque\u00e7a de conectar o terra do Arduino ao terra do M\u00f3dulo A4988 !<\/li>\n<li>As cores dos fios do motor podem variar \u2013 veja nas especifica\u00e7\u00f5es do seu motor.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-3743 size-full lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor.jpg\" sizes=\"(max-width: 981px) 100vw, 981px\" alt=\"\" width=\"981\" height=\"596\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor.jpg 981w,\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor-300x182.jpg 300w,\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor-768x467.jpg 768w,\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor-240x146.jpg 240w,\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor-50x30.jpg 50w,\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor-123x75.jpg 123w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/Arduino-A4988-Motor.jpg\" \/><\/p>\n<p>O M\u00f3dulo Driver A4988 tem um potenciometro (POT) de ajuste de corrente m\u00e1xima. Se a corrente ultrapassar o limite, o chip ser\u00e1 desativado para prote\u00e7\u00e3o dos circuitos. <strong>Antes de rodar o programa de teste, o ajuste de corrente dever\u00e1 ser realizado ! Veja o procedimento abaixo.\u00a0<\/strong><\/p>\n<p>&nbsp;<\/p>\n<h2 id=\"Ajuste de Corrente\">Ajuste de Corrente do M\u00f3dulo Driver A4988:<\/h2>\n<p>O chip A4988 tem recursos de prote\u00e7\u00e3o contra excesso de temperatura ( temperatura de Shutdown \u00e9 de 165 graus Celsius), prote\u00e7\u00e3o contra excesso de corrente nos FETs de pot\u00eancia e ainda prote\u00e7\u00e3o contra curto-circuitos nos pinos conectados nas bobinas.<\/p>\n<p>A corrente m\u00e1xima do Driver dever\u00e1 ser ajustada para o mesmo valor da corrente m\u00e1xima do motor (datasheet). A verifica\u00e7\u00e3o das correntes nas bobinas do motor \u00e9 realizada atrav\u00e9s da \u00a0medi\u00e7\u00e3o das tens\u00f5es sobre os resistores RS1 e RS2 do m\u00f3dulo. Essas tens\u00f5es s\u00e3o comparadas com a tens\u00e3o de refer\u00eancia (V REF) do chip A4988.<\/p>\n<p>Essa tens\u00e3o de refer\u00eancia \u00e9 ajustada atrav\u00e9s do trimpot (POT), marcado com uma seta vermelha. Use uma chave de fenda de relojoeiro para ajustar \u2013 gire com delicadeza.<\/p>\n<p>Carregue o programa <em> <a href=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/A4988_ajusteCorrente.ino\">A4988_ajusteCorrente<\/a>\u00a0<\/em>, pois o m\u00f3dulo deve ser configurado para o modo de Passo Completo (FULL) para esse ajuste de corrente. N\u00e3o ligue a fonte de 12V ainda. N\u00e3o \u00e9 necess\u00e1rio lig\u00e1-la, para fazer esse ajuste. Conecte a ponta negativa (preta) do seu Volt\u00edmetro no\u00a0 pino GND do M\u00f3dulo A4988. E a ponta positiva (vermelha) pode coloc\u00e1-la sobre a <strong>parte superior met\u00e1lica do potenci\u00f4metro<\/strong>. Muito cuidado para n\u00e3o provocar um curto-circuito. A tens\u00e3o de Refer\u00eancia (do POT) deve ser ajustada de acordo com os c\u00e1lculos abaixo.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-3750 aligncenter lazy-loaded\" src=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/A4988POT-300x300.jpg\" sizes=\"(max-width: 300px) 100vw, 300px\" alt=\"\" width=\"300\" height=\"300\" data-srcset=\"\/wp-content\/uploads\/2018\/03\/A4988POT-300x300.jpg 300w,\/wp-content\/uploads\/2018\/03\/A4988POT-150x150.jpg 150w,\/wp-content\/uploads\/2018\/03\/A4988POT-146x146.jpg 146w,\/wp-content\/uploads\/2018\/03\/A4988POT-50x50.jpg 50w,\/wp-content\/uploads\/2018\/03\/A4988POT-75x75.jpg 75w,\/wp-content\/uploads\/2018\/03\/A4988POT-85x85.jpg 85w,\/wp-content\/uploads\/2018\/03\/A4988POT-80x80.jpg 80w,\/wp-content\/uploads\/2018\/03\/A4988POT.jpg 600w, https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/A4988POT-300x300.jpg\" \/><\/p>\n<p>O c\u00e1lculo da corrente m\u00e1xima \u00e9 esse ( retirado das especifica\u00e7\u00f5es do fabricante do chip A4988) :<\/p>\n<p><strong>I max = V REF \/ ( 8 x RS )<\/strong>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 ou\u00a0<strong>\u00a0 \u00a0 \u00a0 \u00a0V REF = I max\u00a0 x ( 8 x RS )<\/strong><\/p>\n<p>No meu m\u00f3dulo RS = 0,1 ohm e a tens\u00e3o Vref = 1,25 V ( veio ajustado com essa tens\u00e3o)<\/p>\n<p>Portanto :<\/p>\n<p><strong>\u00a0I max = 1,25 \/ ( 8 x 0,1 ) \u00a0= \u00a01,56 Amp\u00e9res\u00a0<\/strong><\/p>\n<p><strong>Fazendo alguns c\u00e1lculos como exemplo :\u00a0<\/strong><\/p>\n<p>( S1 e S2 = 0,1 ohms \u2013 codigo R100 no resistor)<\/p>\n<p><strong>\u00a0 I max = Vref \/ ( 8 x 0,1 )\u00a0<\/strong><strong>\u00a0<\/strong><\/p>\n<ul>\n<li>\n<ul>\n<li>\n<ul>\n<li><strong>\u00a0 \u00a0 \u00a0 \u00a0para 2A (max) =&gt;\u00a0 \u00a0 \u00a0 <\/strong>Vref = Imax x ( 8 x 0,1 ) = 2,0 x 0,8 = 1,6 V<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><strong>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <\/strong>\u00a0 (n\u00e3o ultrapasse esse limite !)<\/p>\n<ul>\n<li>\n<ul>\n<li>\n<ul>\n<li><strong>\u00a0 \u00a0 \u00a0 \u00a0para 1,5 A\u00a0 \u00a0 \u00a0 \u00a0=&gt;\u00a0 \u00a0 \u00a0 <\/strong>Vref = Imax x ( 8 x 0,1 ) = 1,5 x 0,8 = 1,2 V<\/li>\n<li><strong>\u00a0 \u00a0 \u00a0 \u00a0para 1,0 A\u00a0 \u00a0 \u00a0 \u00a0=&gt;\u00a0 \u00a0 \u00a0 <\/strong>Vref = Imax x ( 8 x 0,1 ) = 1,0 x 0,8 = 0,8 V<\/li>\n<li><strong>\u00a0 \u00a0 \u00a0 \u00a0para 0,5 A\u00a0 \u00a0 \u00a0 \u00a0=&gt;\u00a0 \u00a0 \u00a0 <\/strong>Vref = Imax x ( 8 x 0,1 ) = 0,5 x 0,8 = 0,4 V<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h2 id=\"Testes do Driver\">Testes do Driver A4988 + Motor de Passo<\/h2>\n<p>Criei um Sketch para permitir o teste de todos os pinos de controle \/ fun\u00e7\u00f5es \u00a0do M\u00f3dulo A4988. Usei as oito portas digitais do Arduino. A designa\u00e7\u00e3o de cada porta foi escolha minha. Nada impede que voc\u00ea utilize outras portas, desde que altere as liga\u00e7\u00f5es e o seu sketch de acordo com o novo circuito.<\/p>\n<p>O Sketch permite o uso de todos os modos de passo :<\/p>\n<ul>\n<li>Passo Completo (Full),<\/li>\n<li>Meio Passo (Half),<\/li>\n<li>Micro-passo de 1\/4,<\/li>\n<li>Micro-passo de 1\/8,<\/li>\n<li>Micro-passo de 1\/16.<\/li>\n<\/ul>\n<p>Permite tamb\u00e9m que configure a frequ\u00eancia dos pulsos (passos) e o RPM, a quantidade de passos,o sentido de rota\u00e7\u00e3o, etc.<\/p>\n<p>Carregue o Sketch na IDE Arduino. Compile-o e grave-o no Arduino. Abra o Monitor Serial (Console) com a velocidade de 9600 Bps. <strong>Pronto, agora pode ligar a fonte de 12V<\/strong> . Acompanhe os\u00a0 testes atrav\u00e9s da Console.<\/p>\n<p>Fa\u00e7a as altera\u00e7\u00f5es necess\u00e1rias no programa, se quiser fazer outro tipo de teste. Se o sentido da rota\u00e7\u00e3o n\u00e3o corresponde ao Monitor, inverta as liga\u00e7\u00f5es das bobinas. Onde esta ligada a bobina A, conecte a bobina B. E a bobina B conecte na liga\u00e7\u00e3o da A.<\/p>\n<p>Arquivo do Sketch :\u00a0<em><a href=\"https:\/\/blog.eletrogate.com\/wp-content\/uploads\/2018\/03\/A4988_teste.ino\" rel=\"noopener\">A4988_teste.ino<\/a><\/em><\/p>\n<div id=\"crayon-5db782b3d1579979758366\" class=\"crayon-syntax crayon-theme-eclipse crayon-font-consolas crayon-os-pc print-yes notranslate\" data-settings=\" minimize scroll-always\">\n<div class=\"crayon-toolbar\" data-settings=\" show\"><span class=\"crayon-title\">A4988_teste.ino<\/span><\/p>\n<div class=\"crayon-tools\">\n<div class=\"crayon-button crayon-nums-button crayon-pressed\" title=\"Alternar n\u00fameros de linha\">\n<div class=\"crayon-button-icon\"><\/div>\n<\/div>\n<div class=\"crayon-button crayon-plain-button\" title=\"Exibir c\u00f3digo simples\">\n<div class=\"crayon-button-icon\"><\/div>\n<\/div>\n<div class=\"crayon-button crayon-wrap-button\" title=\"Alternar quebras de linha\">\n<div class=\"crayon-button-icon\"><\/div>\n<\/div>\n<div class=\"crayon-button crayon-expand-button\" title=\"Expand Code\">\n<div class=\"crayon-button-icon\"><\/div>\n<\/div>\n<div class=\"crayon-button crayon-popup-button\" title=\"Abrir c\u00f3digo em nova janela\">\n<div class=\"crayon-button-icon\"><\/div>\n<\/div>\n<p><span class=\"crayon-language\">C++<\/span><\/div>\n<\/div>\n<div class=\"crayon-plain-wrap\"><textarea class=\"crayon-plain print-no\" readonly=\"readonly\" wrap=\"soft\" data-settings=\"dblclick\">\/\/ Controle de Motor de Passo com Modulo driver A4988<br \/>\n\/\/<br \/>\n\/\/ Modulo A4988 \/ Motor de Passo Bipolar \/ Arduino Nano \/ IDE 1.8.5<br \/>\n\/\/ Gustavo Murta 29\/mar\/2018<\/p>\n<p>\/\/ Defini\u00e7oes das Portas Digitais do Arduino<\/p>\n<p>int RST = 8;              \/\/ Porta digital D08 &#8211; reset do A4988<br \/>\nint SLP = 9;              \/\/ Porta digital D09 &#8211; dormir (sleep) A4988<br \/>\nint ENA = 7;              \/\/ Porta digital D07 &#8211; ativa (enable) A4988<br \/>\nint MS1 = 4;              \/\/ Porta digital D04 &#8211; MS1 do A4988<br \/>\nint MS2 = 5;              \/\/ Porta digital D05 &#8211; MS2 do A4988<br \/>\nint MS3 = 6;              \/\/ Porta digital D06 &#8211; MS3 do A4988<br \/>\nint DIR = 3;              \/\/ Porta digital D03 &#8211; dire\u00e7\u00e3o (direction) do A4988<br \/>\nint STP = 2;              \/\/ Porta digital D02 &#8211; passo(step) do A4988<\/p>\n<p>int MeioPeriodo = 1000;   \/\/ MeioPeriodo do pulso STEP em microsegundos F= 1\/T = 1\/2000 uS = 500 Hz<br \/>\nfloat PPS = 0;            \/\/ Pulsos por segundo<br \/>\nboolean sentido = true;   \/\/ Variavel de sentido<br \/>\nlong PPR = 200;           \/\/ N\u00famero de passos por volta<br \/>\nlong Pulsos;              \/\/ Pulsos para o driver do motor<br \/>\nint Voltas;               \/\/ voltas do motor<br \/>\nfloat RPM;                \/\/ Rotacoes por minuto<\/p>\n<p>void setup()<br \/>\n{<br \/>\n  Serial.begin(9600);<\/p>\n<p>  DDRD = DDRD | B11111100;  \/\/ Configura Portas D02 at\u00e9 D07 como sa\u00edda<br \/>\n  disa_A4988();             \/\/ Desativa o chip A4988<\/p>\n<p>  DDRB = 0x0F;              \/\/ Configura Portas D08,D09,D10 e D11 como sa\u00edda<br \/>\n  digitalWrite(SLP, HIGH);  \/\/ Desativa modo sleep do A4988<br \/>\n  rst_A4988();              \/\/ Reseta o chip A4988<br \/>\n  ena_A4988();              \/\/ Ativa o chip A4988<br \/>\n}<\/p>\n<p>void rst_A4988()<br \/>\n{<br \/>\n  digitalWrite(RST, LOW);     \/\/ Realiza o reset do A4988<br \/>\n  delay (10);                 \/\/ Atraso de 10 milisegundos<br \/>\n  digitalWrite(RST, HIGH);    \/\/ Libera o reset do A4988<br \/>\n  delay (10);                 \/\/ Atraso de 10 milisegundos<br \/>\n}<\/p>\n<p>void disa_A4988()<br \/>\n{<br \/>\n  digitalWrite(ENA, HIGH);    \/\/ Desativa o chip A4988<br \/>\n  delay (10);                 \/\/ Atraso de 10 milisegundos<br \/>\n}<\/p>\n<p>void ena_A4988()<br \/>\n{<br \/>\n  digitalWrite(ENA, LOW);     \/\/ Ativa o chip A4988<br \/>\n  delay (10);                 \/\/ Atraso de 10 milisegundos<br \/>\n}<\/p>\n<p>void HOR()                      \/\/ Configura o sentido de rota\u00e7\u00e3o do Motor<br \/>\n{<br \/>\n  Serial.println(&#8221; Sentido Horario &#8220;);<br \/>\n  digitalWrite(DIR, HIGH);      \/\/ Configura o sentido HOR\u00c1RIO<br \/>\n}<\/p>\n<p>void AHR()                      \/\/ Configura o sentido de rota\u00e7\u00e3o do Motor<br \/>\n{<br \/>\n  Serial.println(&#8221; Sentido anti-Horario &#8220;);<br \/>\n  digitalWrite(DIR, LOW);       \/\/ Configura o sentido ANTI-HOR\u00c1RIO<br \/>\n}<\/p>\n<p>void PASSO()                         \/\/ Pulso do passo do Motor<br \/>\n{<br \/>\n  digitalWrite(STP, LOW);            \/\/ Pulso n\u00edvel baixo<br \/>\n  delayMicroseconds (MeioPeriodo);   \/\/ MeioPeriodo de X microsegundos<br \/>\n  digitalWrite(STP, HIGH);           \/\/ Pulso n\u00edvel alto<br \/>\n  delayMicroseconds (MeioPeriodo);   \/\/ MeioPeriodo de X microsegundos<br \/>\n}<\/p>\n<p>void FREQUENCIA()                    \/\/ calcula Pulsos, PPS e RPM<br \/>\n{<br \/>\n  Pulsos = PPR * Voltas;             \/\/ Quantidade total de Pulsos (PPR = pulsos por volta)<br \/>\n  PPS = 1000000 \/ (2 * MeioPeriodo); \/\/ Frequencia Pulsos por segundo<br \/>\n  RPM = (PPS * 60) \/ PPR;            \/\/ Calculo do RPM<br \/>\n}<\/p>\n<p>void FULL()<br \/>\n{<br \/>\n  Serial.println(&#8221; Passo Completo  PPR = 200 &#8220;);<br \/>\n  PPR = 200;                 \/\/ PPR = pulsos por volta<br \/>\n  digitalWrite(MS1, LOW);    \/\/ Configura modo Passo completo (Full step)<br \/>\n  digitalWrite(MS2, LOW);<br \/>\n  digitalWrite(MS3, LOW);<br \/>\n}<\/p>\n<p>void HALF()<br \/>\n{<br \/>\n  Serial.println(&#8221; Meio Passo  PPR = 400 &#8220;);<br \/>\n  PPR = 400;                  \/\/ PPR = pulsos por volta<br \/>\n  digitalWrite(MS1, HIGH);    \/\/ Configura modo Meio Passo (Half step)<br \/>\n  digitalWrite(MS2, LOW);<br \/>\n  digitalWrite(MS3, LOW);<br \/>\n}<\/p>\n<p>void P1_4()<br \/>\n{<br \/>\n  Serial.println(&#8221; Micro-passo 1\/4  PPR = 800 &#8220;);<br \/>\n  PPR = 800;                 \/\/ PPR = pulsos por volta<br \/>\n  digitalWrite(MS1, LOW);    \/\/ Configura modo Micro Passo 1\/4<br \/>\n  digitalWrite(MS2, HIGH);<br \/>\n  digitalWrite(MS3, LOW);<br \/>\n}<\/p>\n<p>void P1_8()<br \/>\n{<br \/>\n  Serial.println(&#8221; Micro-passo 1\/8  PPR = 1600 &#8220;);<br \/>\n  PPR = 1600;                 \/\/ PPR = pulsos por volta<br \/>\n  digitalWrite(MS1, HIGH);    \/\/ Configura modo Micro Passo 1\/8<br \/>\n  digitalWrite(MS2, HIGH);<br \/>\n  digitalWrite(MS3, LOW);<br \/>\n}<\/p>\n<p>void P1_16()<br \/>\n{<br \/>\n  Serial.println(&#8221; Micro-passo 1\/16  PPR = 3200 &#8220;);<br \/>\n  PPR = 3200;                 \/\/ PPR = pulsos por volta<br \/>\n  digitalWrite(MS1, HIGH);    \/\/ Configura modo Micro Passo 1\/16<br \/>\n  digitalWrite(MS2, HIGH);<br \/>\n  digitalWrite(MS3, HIGH);<br \/>\n}<\/p>\n<p>void TesteMotor()<br \/>\n{<br \/>\n  Print_RPM ();                           \/\/ Print Voltas, PPS e  RPM<\/p>\n<p>  HOR();                                  \/\/ Gira sentido Horario<br \/>\n  for (int i = 0; i &lt;= Pulsos; i++)       \/\/ Incrementa o Contador<br \/>\n  {<br \/>\n    PASSO();                              \/\/ Avan\u00e7a um passo no Motor<br \/>\n  }<br \/>\n  disa_A4988();                           \/\/ Desativa o chip A4988<br \/>\n  delay (1000) ;                          \/\/ Atraso de 1 segundo<br \/>\n  ena_A4988();                            \/\/ Ativa o chip A4988<\/p>\n<p>  AHR();                                  \/\/ Gira sentido anti-Horario<br \/>\n  for (int i = 0; i &lt;= Pulsos; i++)       \/\/ Incrementa o Contador<br \/>\n  {<br \/>\n    PASSO();                              \/\/ Avan\u00e7a um passo no Motor<br \/>\n  }<br \/>\n  disa_A4988();                           \/\/ Desativa o chip A4988<br \/>\n  delay (1000) ;                          \/\/ Atraso de 1 segundo<br \/>\n  ena_A4988();                            \/\/ Ativa o chip A4988<br \/>\n}<\/p>\n<p>void Print_RPM ()<br \/>\n{<br \/>\n  FREQUENCIA();                           \/\/ calcula Pulsos, PPS e RPM<br \/>\n  Serial.print(&#8221; Voltas= &#8220;);<br \/>\n  Serial.print(Voltas);<br \/>\n  Serial.print(&#8221; Pulsos= &#8220;);<br \/>\n  Serial.print(Pulsos);<br \/>\n  Serial.print(&#8221; PPS= &#8220;);<br \/>\n  Serial.print(PPS, 2);<br \/>\n  Serial.print(&#8221; RPM= &#8220;);<br \/>\n  Serial.println(RPM, 2);<br \/>\n}<\/p>\n<p>void loop()<br \/>\n{<br \/>\n  Serial.println();<br \/>\n  FULL();          \/\/ Selecione aqui o modo de passo<br \/>\n  \/\/HALF();        \/\/ desmarque o comentario somente da opcao desejada<br \/>\n  \/\/P1_4();<br \/>\n  \/\/P1_8();<br \/>\n  \/\/P1_16();<br \/>\n  Voltas = 3;        \/\/ Selecione o numero de Voltas<br \/>\n  TesteMotor();      \/\/ Inicia teste do motor<br \/>\n}<\/textarea><\/div>\n<div class=\"crayon-main\">\n<table class=\"crayon-table\">\n<tbody>\n<tr class=\"crayon-row\">\n<td class=\"crayon-nums \" data-settings=\"show\">\n<div class=\"crayon-nums-content\">\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-1\">1<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-2\">2<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-3\">3<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-4\">4<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-5\">5<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-6\">6<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-7\">7<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-8\">8<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-9\">9<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-10\">10<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-11\">11<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-12\">12<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-13\">13<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-14\">14<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-15\">15<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-16\">16<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-17\">17<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-18\">18<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-19\">19<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-20\">20<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-21\">21<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-22\">22<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-23\">23<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-24\">24<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-25\">25<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-26\">26<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-27\">27<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-28\">28<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-29\">29<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-30\">30<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-31\">31<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-32\">32<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-33\">33<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-34\">34<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-35\">35<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-36\">36<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-37\">37<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-38\">38<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-39\">39<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-40\">40<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-41\">41<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-42\">42<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-43\">43<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-44\">44<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-45\">45<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-46\">46<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-47\">47<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-48\">48<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-49\">49<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-50\">50<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-51\">51<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-52\">52<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-53\">53<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-54\">54<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-55\">55<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-56\">56<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-57\">57<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-58\">58<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-59\">59<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-60\">60<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-61\">61<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-62\">62<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-63\">63<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-64\">64<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-65\">65<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-66\">66<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-67\">67<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-68\">68<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-69\">69<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-70\">70<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-71\">71<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-72\">72<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-73\">73<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-74\">74<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-75\">75<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-76\">76<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-77\">77<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-78\">78<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-79\">79<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-80\">80<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-81\">81<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-82\">82<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-83\">83<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-84\">84<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-85\">85<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-86\">86<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-87\">87<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-88\">88<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-89\">89<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-90\">90<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-91\">91<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-92\">92<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-93\">93<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-94\">94<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-95\">95<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-96\">96<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-97\">97<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-98\">98<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-99\">99<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-100\">100<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-101\">101<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-102\">102<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-103\">103<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-104\">104<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-105\">105<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-106\">106<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-107\">107<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-108\">108<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-109\">109<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-110\">110<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-111\">111<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-112\">112<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-113\">113<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-114\">114<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-115\">115<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-116\">116<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-117\">117<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-118\">118<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-119\">119<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-120\">120<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-121\">121<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-122\">122<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-123\">123<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-124\">124<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-125\">125<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-126\">126<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-127\">127<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-128\">128<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-129\">129<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-130\">130<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-131\">131<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-132\">132<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-133\">133<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-134\">134<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-135\">135<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-136\">136<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-137\">137<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-138\">138<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-139\">139<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-140\">140<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-141\">141<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-142\">142<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-143\">143<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-144\">144<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-145\">145<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-146\">146<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-147\">147<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-148\">148<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-149\">149<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-150\">150<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-151\">151<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-152\">152<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-153\">153<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-154\">154<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-155\">155<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-156\">156<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-157\">157<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-158\">158<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-159\">159<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-160\">160<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-161\">161<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-162\">162<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-163\">163<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-164\">164<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-165\">165<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-166\">166<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-167\">167<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-168\">168<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-169\">169<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-170\">170<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-171\">171<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-172\">172<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-173\">173<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-174\">174<\/div>\n<div class=\"crayon-num\" data-line=\"crayon-5db782b3d1579979758366-175\">175<\/div>\n<div class=\"crayon-num crayon-striped-num\" data-line=\"crayon-5db782b3d1579979758366-176\">176<\/div>\n<\/div>\n<\/td>\n<td class=\"crayon-code\">\n<div class=\"crayon-pre\">\n<div id=\"crayon-5db782b3d1579979758366-1\" class=\"crayon-line\"><span class=\"crayon-c\">\/\/ Controle de Motor de Passo com Modulo driver A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-2\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-c\">\/\/<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-3\" class=\"crayon-line\"><span class=\"crayon-c\">\/\/ Modulo A4988 \/ Motor de Passo Bipolar \/ Arduino Nano \/ IDE 1.8.5<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-4\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-c\">\/\/ Gustavo Murta 29\/mar\/2018<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-5\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-6\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-c\">\/\/ Defini\u00e7oes das Portas Digitais do Arduino<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-7\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-8\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">RST<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">8<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D08 &#8211; reset do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-9\" class=\"crayon-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">SLP<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">9<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D09 &#8211; dormir (sleep) A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-10\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">ENA<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">7<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D07 &#8211; ativa (enable) A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-11\" class=\"crayon-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">MS1<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">4<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D04 &#8211; MS1 do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-12\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">MS2<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">5<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D05 &#8211; MS2 do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-13\" class=\"crayon-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">MS3<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">6<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D06 &#8211; MS3 do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-14\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">DIR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">3<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D03 &#8211; dire\u00e7\u00e3o (direction) do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-15\" class=\"crayon-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">STP<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">2<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Porta digital D02 &#8211; passo(step) do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-16\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-17\" class=\"crayon-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">MeioPeriodo<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">1000<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ MeioPeriodo do pulso STEP em microsegundos F= 1\/T = 1\/2000 uS = 500 Hz<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-18\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">float<\/span> <span class=\"crayon-v\">PPS<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">0<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Pulsos por segundo<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-19\" class=\"crayon-line\"><span class=\"crayon-t\">boolean<\/span> <span class=\"crayon-v\">sentido<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-t\">true<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Variavel de sentido<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-20\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">long<\/span> <span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">200<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ N\u00famero de passos por volta<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-21\" class=\"crayon-line\"><span class=\"crayon-t\">long<\/span> <span class=\"crayon-v\">Pulsos<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Pulsos para o driver do motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-22\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">Voltas<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ voltas do motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-23\" class=\"crayon-line\"><span class=\"crayon-t\">float<\/span> <span class=\"crayon-v\">RPM<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Rotacoes por minuto<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-24\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-25\" class=\"crayon-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">setup<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-26\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-27\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">begin<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">9600<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-28\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-29\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">DDRD<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-v\">DDRD<\/span> <span class=\"crayon-o\">|<\/span> <span class=\"crayon-v\">B11111100<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura Portas D02 at\u00e9 D07 como sa\u00edda<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-30\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">disa_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Desativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-31\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-32\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">DDRB<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">0x0F<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura Portas D08,D09,D10 e D11 como sa\u00edda<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-33\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">SLP<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Desativa modo sleep do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-34\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">rst_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Reseta o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-35\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">ena_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Ativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-36\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-37\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-38\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">rst_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-39\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-40\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">RST<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Realiza o reset do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-41\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delay<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">10<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Atraso de 10 milisegundos<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-42\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">RST<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Libera o reset do A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-43\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delay<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">10<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Atraso de 10 milisegundos<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-44\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-45\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-46\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">disa_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-47\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-48\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">ENA<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Desativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-49\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delay<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">10<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Atraso de 10 milisegundos<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-50\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-51\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-52\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">ena_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-53\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-54\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">ENA<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Ativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-55\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delay<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">10<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Atraso de 10 milisegundos<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-56\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-57\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-58\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">HOR<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura o sentido de rota\u00e7\u00e3o do Motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-59\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-60\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Sentido Horario &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-61\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">DIR<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura o sentido HOR\u00c1RIO<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-62\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-63\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-64\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">AHR<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura o sentido de rota\u00e7\u00e3o do Motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-65\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-66\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Sentido anti-Horario &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-67\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">DIR<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Configura o sentido ANTI-HOR\u00c1RIO<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-68\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-69\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-70\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">PASSO<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Pulso do passo do Motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-71\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-72\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">STP<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Pulso n\u00edvel baixo<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-73\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delayMicroseconds<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MeioPeriodo<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ MeioPeriodo de X microsegundos<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-74\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">STP<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Pulso n\u00edvel alto<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-75\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delayMicroseconds<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MeioPeriodo<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ MeioPeriodo de X microsegundos<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-76\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-77\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-78\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">FREQUENCIA<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ calcula Pulsos, PPS e RPM<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-79\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-80\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Pulsos<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">*<\/span> <span class=\"crayon-v\">Voltas<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Quantidade total de Pulsos (PPR = pulsos por volta)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-81\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">PPS<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">1000000<\/span> <span class=\"crayon-o\">\/<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">2<\/span> <span class=\"crayon-o\">*<\/span> <span class=\"crayon-v\">MeioPeriodo<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span> <span class=\"crayon-c\">\/\/ Frequencia Pulsos por segundo<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-82\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">RPM<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">PPS<\/span> <span class=\"crayon-o\">*<\/span> <span class=\"crayon-cn\">60<\/span><span class=\"crayon-sy\">)<\/span> <span class=\"crayon-o\">\/<\/span> <span class=\"crayon-v\">PPR<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Calculo do RPM<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-83\" class=\"crayon-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-84\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-85\" class=\"crayon-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">FULL<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-86\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-87\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Passo Completo\u00a0\u00a0PPR = 200 &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-88\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">200<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ PPR = pulsos por volta<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-89\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS1<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura modo Passo completo (Full step)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-90\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS2<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-91\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS3<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-92\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-93\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-94\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">HALF<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-95\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-96\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Meio Passo\u00a0\u00a0PPR = 400 &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-97\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">400<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ PPR = pulsos por volta<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-98\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS1<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura modo Meio Passo (Half step)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-99\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS2<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-100\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS3<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-101\" class=\"crayon-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-102\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-103\" class=\"crayon-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">P1_4<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-104\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-105\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Micro-passo 1\/4\u00a0\u00a0PPR = 800 &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-106\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">800<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ PPR = pulsos por volta<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-107\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS1<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura modo Micro Passo 1\/4<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-108\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS2<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-109\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS3<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-110\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-111\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-112\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">P1_8<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-113\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-114\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Micro-passo 1\/8\u00a0\u00a0PPR = 1600 &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-115\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">1600<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ PPR = pulsos por volta<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-116\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS1<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura modo Micro Passo 1\/8<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-117\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS2<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-118\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS3<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">LOW<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-119\" class=\"crayon-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-120\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-121\" class=\"crayon-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">P1_16<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-122\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-123\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Micro-passo 1\/16\u00a0\u00a0PPR = 3200 &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-124\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">PPR<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">3200<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ PPR = pulsos por volta<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-125\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS1<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Configura modo Micro Passo 1\/16<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-126\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS2<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-127\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">digitalWrite<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">MS3<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-v\">HIGH<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-128\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-129\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-130\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">TesteMotor<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-131\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-132\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">Print_RPM<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Print Voltas, PPS e\u00a0\u00a0RPM<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-133\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-134\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">HOR<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Gira sentido Horario<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-135\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-st\">for<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">i<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">0<\/span><span class=\"crayon-sy\">;<\/span> <span class=\"crayon-v\">i<\/span> <span class=\"crayon-o\">&lt;=<\/span> <span class=\"crayon-v\">Pulsos<\/span><span class=\"crayon-sy\">;<\/span> <span class=\"crayon-v\">i<\/span><span class=\"crayon-o\">++<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Incrementa o Contador<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-136\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-137\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-e\">PASSO<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Avan\u00e7a um passo no Motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-138\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-139\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">disa_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Desativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-140\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delay<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">1000<\/span><span class=\"crayon-sy\">)<\/span> <span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Atraso de 1 segundo<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-141\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">ena_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Ativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-142\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-143\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">AHR<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Gira sentido anti-Horario<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-144\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-st\">for<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-t\">int<\/span> <span class=\"crayon-v\">i<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">0<\/span><span class=\"crayon-sy\">;<\/span> <span class=\"crayon-v\">i<\/span> <span class=\"crayon-o\">&lt;=<\/span> <span class=\"crayon-v\">Pulsos<\/span><span class=\"crayon-sy\">;<\/span> <span class=\"crayon-v\">i<\/span><span class=\"crayon-o\">++<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Incrementa o Contador<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-145\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-146\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-e\">PASSO<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Avan\u00e7a um passo no Motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-147\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-148\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">disa_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ Desativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-149\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">delay<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-cn\">1000<\/span><span class=\"crayon-sy\">)<\/span> <span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Atraso de 1 segundo<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-150\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">ena_A4988<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Ativa o chip A4988<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-151\" class=\"crayon-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-152\" class=\"crayon-line crayon-striped-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-153\" class=\"crayon-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">Print_RPM<\/span> <span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-154\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-155\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">FREQUENCIA<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 <\/span><span class=\"crayon-c\">\/\/ calcula Pulsos, PPS e RPM<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-156\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Voltas= &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-157\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">Voltas<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-158\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; Pulsos= &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-159\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">Pulsos<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-160\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; PPS= &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-161\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">PPS<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-cn\">2<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-162\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">print<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-s\">&#8221; RPM= &#8220;<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-163\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-v\">RPM<\/span><span class=\"crayon-sy\">,<\/span> <span class=\"crayon-cn\">2<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-164\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-165\" class=\"crayon-line\"><\/div>\n<div id=\"crayon-5db782b3d1579979758366-166\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-t\">void<\/span> <span class=\"crayon-e\">loop<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-167\" class=\"crayon-line\"><span class=\"crayon-sy\">{<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-168\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Serial<\/span><span class=\"crayon-sy\">.<\/span><span class=\"crayon-e\">println<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-169\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">FULL<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Selecione aqui o modo de passo<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-170\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/HALF();\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ desmarque o comentario somente da opcao desejada<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-171\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/P1_4();<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-172\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/P1_8();<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-173\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/P1_16();<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-174\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-v\">Voltas<\/span> <span class=\"crayon-o\">=<\/span> <span class=\"crayon-cn\">3<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Selecione o numero de Voltas<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-175\" class=\"crayon-line\"><span class=\"crayon-h\">\u00a0\u00a0<\/span><span class=\"crayon-e\">TesteMotor<\/span><span class=\"crayon-sy\">(<\/span><span class=\"crayon-sy\">)<\/span><span class=\"crayon-sy\">;<\/span><span class=\"crayon-h\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><span class=\"crayon-c\">\/\/ Inicia teste do motor<\/span><\/div>\n<div id=\"crayon-5db782b3d1579979758366-176\" class=\"crayon-line crayon-striped-line\"><span class=\"crayon-sy\">}<\/span><\/div>\n<\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/div>\n<p>&nbsp;<\/p>\n<p>Se tiver alguma d\u00favida,\u00a0 deixe um coment\u00e1rio!<\/p>\n<p>&nbsp;<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>Tudo sobre DRIVER A4988 e Motor de Passo &gt; Usando o Arduino &nbsp; Nesse tutorial\u00a0 DRIVER A4988 + Motor de Passo &gt; Usando o Arduino, voc\u00ea ver\u00e1 : Como funciona um Motor de passo. Tipos de Motores de Passo. Motores de Passo \u2013 Unipolar e Bipolar \/ Tipos de enrolamentos. Especifica\u00e7\u00f5es de Motores de Passo. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1346,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[569,207],"tags":[507],"class_list":["post-10296","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-artigos","category-blog","tag-a4988","entry","has-media","owp-thumbs-layout-horizontal","owp-btn-normal","owp-tabs-layout-horizontal","has-no-thumbnails","has-product-nav"],"_links":{"self":[{"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/posts\/10296","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/comments?post=10296"}],"version-history":[{"count":0,"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/posts\/10296\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/media\/1346"}],"wp:attachment":[{"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/media?parent=10296"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/categories?post=10296"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/arduxop.com.br\/loja\/wp-json\/wp\/v2\/tags?post=10296"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}