Since it’s a bit tedious to hammer out the whole I2C communication in code again every single time, I went ahead and wrote a small library for the Twig I2C Motor Driver from Seeed, based on the original Arduino Stepper library.
Listing 1 shows a small code example of how to use the Arduino library. Since the code is pretty much self-explanatory, I’ll spare myself any further explanation here.
Listing 1:
#include <Wire.h>
#include <TwigMotor.h>
#define STEPS 48
// create an instance of the TwigMotor class, specifying
// number of steps and I2C address
TwigMotor stepper(STEPS, 0x28);
void setup()
{
// set the speed of the motor to 100 RPMs
stepper.setSpeed(0x28,100);
}
void loop(){
// move 100 steps forward
stepper.step(0x28,100,FORWARD);
delay(1000);
// move 100 steps backward
stepper.step(0x28,100,BACKWARD);
delay(1000);
}
The exact specification and more information about the Twig I2C Motor Driver can be found in the Seeed Wiki.
You can download the Twig I2C Motor Shield library here:
https://github.com/mariolukas/TwigMotor-Library
UPDATE: With Arduino IDE versions lower than 022 you may run into problems.
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