I have downloaded board files into Arduino to enable me to program the attiny 25/45/85/chips at 1Mhz or 8Mhz. Pauses the program for the amount of time (in microseconds) specified by the parameter. Good day, i recently bought an UNO so i can learn some arduino programming. This. Dynamic tasks activation and deactivation. Well, I have a problem with my arduino DUE, I would like to do a delay of 100ns minimum, my code is very very very simple, only an interrupt of my pin 2 and I activate my pin 3. refer to writeMicroseconds () Writes a value in microseconds (uS) to the servo, controlling the shaft accordingly. cpp 📋 Copy to clipboard ⇓ Download. It accepts a single integer as an argument. 반환. micro phải <= 16383. Returns the number of microseconds since the Arduino board began running the current program. The Serial. All without using the delay() function. how can i re write this in millis so that its non-blocking i did the top part but i dont know what to do with the delaymicroseconds? unsigned long WaterWait = 4000; unsigned long Waterdelay =0; int trig = 12; int echo. Using "delayMicroseconds ()", that delay can be specified with microsecond resolution. Simplified for the 16 MHz boards: void delayMicroseconds(unsigned int us) { // for the 16 MHz clock on most Arduino boards // for a one-microsecond delay, simply return. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. From the arduino reference page for delay the parameter for delay is an unsigned long. These simple Arduino delay functions just wait a fixed amount of time. We cannot assure that delayMicroseconds will perform precisely for smaller delay-times. 1. } blocks the loop. I'm working on an ignition timing circuit which has a potentiometer on A0 that essentially translates into a delay that is the inverse of the Timing Advance. delayMicroseconds will pause from one microsecond to around 16 milliseconds, but for delays longer than a few. [imported] #576. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. Yes, delay (8000); in your void timeDelay () {. Viewed 2k times. Essa função funciona bastante precisamente para valores maiores que 3 microssegundos. Dominik2 October 29, 2017, 9:58pm #2. You can use delayMicroseconds to delay short periods. TWO - a blocking delay, but one that does NOT use timers (timer0, timer1, or timer2) and is able to work with libraries which have a lot of timing issues or which corrupt millis() or timer0 counts. 0 CH340/ATmega328P、Nano V3. There are a thousand microseconds in a millisecond and a million microseconds in a second. So I should I have sufficient time for the loopDelay to work, but it's not. If you require the timeout to be disabled, it is recommended you disable it by default using setWireTimeout (0), even though that is currently the default. This could change in future Arduino releases. I discovered this experimenting with a sound synthesis program with a variable for the. Making statements based on opinion; back them up with references or personal experience. I want to read analog signal via adc with sample rate about 48khz so when I read via adc and delay about 20us. delayMicroseconds関数 delayMicroseconds関数は指定した時間(μs)プログラムを止めます。 使用例 Arduino IDEで使用するdelay関数の使い方は以下の通りです。試しにこのプログラムをArduino UNOで実行すると、13ピンのLEDが蛍の様に不規則に明るさが変化します。10. This could change in future Arduino releases. We’ll be using the DWT and STM32. Essa função funciona bastante precisamente para valores maiores que 3 microssegundos. Viewed 4k times. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. Hi, I need the Arduino to provide a signal 100 - 10000 ns "high" in a 57,5 Hz cycle. I guess the system timer runs with a resolution of 1 ms. This could change in future Arduino releases. Connect the Echo pin to digital pin 10 on the Arduino. 967295 seconds. To change it unblocking you must in the loop, in each round: if btn pressed store the pressMillis, lit the led. Description. Hello everyone, I have the following code that I'm using to accelerate, decelerate while rotating a stepper motor. The Uno's clock is a ceramic oscillator, with an accuracy on the order of +/- 0. So, you have to do something more like: for ( n = 1; n< 50; n++ ) { digitalWrite (pin, HIGH ); delayMicroseconds ( 2000 ); // send a 2ms pulse. 5%. The content is modified based on Official Arduino References. We are delaying here to make sure, that the HC. – Dave X. Connect the VCC pin of the HC-SR04 to the 5V output on the Arduino. We’ve seen the HAL_Delay () utility in the built-in HAL libraries by STMicroelectronics. So, it sends a 2000 uS pulse ever 20uS. Instead you use your initial ISR to configure and enable one of the ATMega's Timer peripherals. e 1 MHz. There are a thousand microseconds in a millisecond and a million microseconds in a second. 75 microseconds. Description. Using Arduino Programming Questions. Duemilanove and Nano. However, to answer your actual question, there is a more accurate alternative to delayMicroseconds (): the function _delay_us () from the AVR-libc is cycle-accurate and, for example. Any delay over 1024us will include timer0 interrupts, and in your example you'll also have serial interrupts. Hello, From what I learnt so far, the Ultrasonic Sensor can work in two ways. 1 minute = 60 seconds. This could change in future Arduino releases. Usage. ino" file to open it in your Arduino IDE. void setup () { Serial. VCC and GND go to 5V and GND pins on the Arduino, and the Trig and Echo go to any digital Arduino pin. A partir da versão Arduino 0018, delayMicroseconds () não mais desativa interrupções. pwm () code takes a 0-1023 value. range e. Your stepX () function looks like this: void stepX () { currentMicros = micros (); // conditionally do some stuff. The digitalWrite () function takes a substantial portion of your 20. 2 - LEDs, I used one red and one green. import cc. Diese Funktion arbeitet im Bereich von 3 Mikrosekunden und mehr sehr genau. delay (1000) - means delay of 1 sec. Bestimmte Dinge laufen jedoch weiter, während die delay () -Funktion den Atmega-Chip steuert, da die delay () -Funktion Interrupts nicht deaktiviert. Der zurückgegebene Wert ist immer ein Vielfaches. Arrch July 31, 2012, 9:44pm 2. Currently, the largest value that will produce an accurate delay is 16383. When you call delay, it keeps the timer running sending pulses during the wait. agdl closed this as completed on Jan 9, 2015. For the inverter ill be using 3 PMOS and 3. delay (5000) - means delay of 5 sec. g. On the boards from the Arduino Portenta family this function has a resolution of one microsecond on all cores. Since these are milliseconds, the maximum delay () would be 4,294,967. Once downloaded, start the Arduino IDE then go to Sketch > Include Library > Add Zip Library. The issue is that the Labview will work randomly. Duemilanove and Nano. The Arduino Reference for millis () says it: Returns the number of milliseconds passed since the Arduino board began running the current program. do the computation yourself. Và cứ mỗi 1000000 micro giây = 1 giây. マイクロは10の－6乗なので、1,000マイクロ秒は1ミリ秒、1,000,000マイクロ秒は1秒となります。. delayMicroseconds () delayMicroseconds ()関数はパラメータとして指定された時間分だけプログラムを一時停止します。. The micros () function returns the number of microseconds from the time, the Arduino board begins running the current program. Currently, the largest value that will produce an accurate delay is 16383. delay() uses the millis counts based on Timer0. example of code I'm using. As we want the delay of 1 microsecond, the timer frequency must be (1/ (1 us)), i. here is a code snippet for a function to give a delay specified in seconds. While delayMicroseconds () directly uses the value of the hardware timer, delay () and millis () are handled by the ISR. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with different delay values in milliseconds. Just like Arduino have delayMicroseconds(), it also has the micro version of millis() as micros(). The problem is that as of now the hardware is removing a few milliseconds on the delay and so the time in the server ends up being p. millis () will wrap around to 0 after about 49 days (micros. (Any fraction like 0. Obviously, I need 25882 microseconds, which is above that limit. I do know that MATLAB has a pause () function, but when I set up a loop in MATLAB like this: a = arduino ('COM4'); for m = 1:400 a. Before we overflow (about 71 minutes and. //delay_us (us); // for the 16. You can call micros () to find the elapsed time to microsecond resolution. That would be very nice. Asking for help, clarification, or responding to other answers. HermannSW October 29, 2020, 4:00am 1. Cooperative multitasking for Arduino, ESPx, STM32 and other microcontrollers. Also, given most of the use cases of this call use. Blink without Delay - Arduino Tutorial. begin (9600); } void loop () { Serial. I wrote some if statements to include _delay_us() for values of 1 and 2 microseconds. Jan 3, 2021. delay (x) will delay for x number of milliseconds. I think this problem might be that the delaymicroseconds in Arduino with the milliseconds in Labview. I have been working on an LED controller that uses a Return-to-zero protocol that requires me to send high and low signals at delays of 0. 5 The code for delayMicroseconds has a comment saying that it is close to 1us when called with an argument of 1. Aprender a usarlas cor. This could change in future Arduino releases. Share. There are a thousand microseconds in a millisecond, and a million microseconds in a second. So it isn't affected by micros() or millis(). the value returned is always a. All without using the delayMicroseconds() function. 125); does exactly what it says. Viewed 4k times. I have some code running as a FreeRTOS task on my ESP32. I have downloaded board files into Arduino to enable me to program the attiny 25/45/85/chips at 1Mhz or 8Mhz. This function works very accurately in the range 3 microseconds and up. There are a thousand. g. Wir können nicht garantieren, dass delayMicroseconds () genau für kürzere Verzögerungszeiten funktionieren. delay1 & delay2 will be 0 after this: chaymoss: float delay1 = 1/D1; float delay2. We need to provide the HC-SR04 with a fitting trigger signal. Graphs: [Attached. This could change in future Arduino releases. The Time1. 20th Dec 2021 update: added PinFlasher class and example (included in SafeString library V4. However, there’s a big problem: its maximum size ends up being too small for long-term programs! To see how that works, consider: the largest value that micros () can produce is 2^32-1, or 4,294,967,295. g. I noticed that the delayMicroseconds () only accepts whole numbers meaning, it won't allow me to create 0. These might take too long to complete, which will delay all other interrupts and code execution. g. e. cmaglie removed the New label on Feb 27, 2014. 7 (AVR core. Standard servos allow the shaft to be positioned at various angles, usually between 0 and 180 degrees. 23 kHz on pin D9. I'm messing around with the following code: #define cyclespermicro 240 #define microcycles (n) (n*cyclespermicro) uint32_t startCounter, counter, cpu_cycles; int. This could change in future Arduino releases. Recent versions of the Arduino IDE/Core for AVR do Link Time Optimization, which means that calls to delayMicroseconds() where the argument is constant are likely to be optimized to the point where they become significantly inaccurate fo. For a full example, refer to PlatformIO ESP-IDF ESP32 blink example. But for some reason Timer0 is being disabled, and can't use the delay(), millis() and delayMicroseconds(). There is an OC (output enable) pin which, when grounded, gives output of selected byte from 8 I/O pins. delay() is 1 millisecond, so if you need to sleep for only 400 microseconds,. delaymicroseconds() does not use a timer. So, it sends a 2000 uS pulse ever 20uS. This number represents the time and is measured in microseconds. g. We cannot assure that delayMicroseconds will perform precisely for smaller delay-times. When the chosen time has passed the timer interrupt triggers, and you use that interrupt to turn on your output. Pauses the program for the amount of time (in microseconds) specified as parameter. It works on processor cycles. delay (1000) - means delay of 1 sec. We can also use variables in the delay function. Não é possível assegurar que delayMicroseconds() irá funcionar corretamente para valores menores. The drawback you get when using micros () is that the time variable overflows. Pauses the program for the amount of time (in microseconds) specified as parameter. Just like delay() has a microsecond-version called delayMicroseconds(), millis() has micros(). When you read the datasheet of the HC-SR04 you will see that it needs a 10us trigger pulse. Still, interrupts (e. Yes, depending your Arduino's basic clock rate. Timing chart for signal input and output for micro-spectrometer Hamamatsu. The Arduino can count and measure time by utilizing the micros () or millis () functions. I have figured out the timings and without Freertos it works. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. Currently, the largest value that will produce an accurate delay is 16383. delay function does not return any. delay (1) = 494 Hz at flow computer. Arduino example sketch "Blink" allows you to specify "delay ()" between state changes in microseconds. So is timer 2 responsible for the delay() and delaymicroseconds() on mega? No, Timer0 is used on the mega for millis() and micros(). delayMicroseconds(0); between the timerAlarmWrite() and timerAlarmEnable() calls in setup() to work-around the problem. Larger delay times may actually delay for an extremely brief time. . Thats my calculation: At 57. However, when looking at the actual pulse generated on the logic analyzer it is off by an order of magnitude. It is possible that. As you can see I measure the time between two instants using esp_timer_get_time() (this funcion returns an uint64_t with the number of microseconds starting from the power up). {"payload":{"allShortcutsEnabled":false,"fileTree":{"cores/arduino":{"items":[{"name":"USB","path":"cores/arduino/USB","contentType":"directory"},{"name":"compact. 71 days [4,294,967,295/. Currently, the largest value that will produce an accurate delay is 16383; larger values can produce an extremely short delay. I just started using Arduino and so far I've used both delay () and delayMicroseconds (). However, this crashes my ESP32 every time. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. Serial communication that appears. micros () seems to run at the correct rate. Anmerkungen und Warnungen. Navigate to the zip file you downloaded and select it. MartinL October 22, 2015, 8:47am 2. I chose the ESP32 because of its 240MHz clock, but it still seems to be having trouble. After approximately 50 days (or a bit more than 49. Certain things do go on while the delay () function is controlling the Atmega chip, however, because the delay function does not disable interrupts. There are a thousand microseconds in a millisecond, and a million microseconds in a second. cpp file. Pito's answer works, but more importantly, do you understand why it works? Also, the #include directive was never intended to be used with source code files (e. 現在、正確な遅延. Description. What I am doing is I'm trying to write a sample program to make the arduino turn a light on and off on pin 6. After successful setup the timer will automatically start. pinMode (outPin, OUTPUT); // sets the digital pin as output. I read other answers before asking this question, but they rely on the time module, which prior to Python 3. delayMicroseconds (0) Forum 2005-2010 (read only) Software Bugs & Suggestions. To record time in milliseconds, we. As you pointed out delay works fine in. 2. This could change in future Arduino releases. delayMicroseconds(50); // pauses for 50 microseconds. However Delaymicroseconds() does not use the time interrupt As you may know once an interrupt is called it stops all other interrupts So the real. Tue Sep 18, 2012 3:55 pm. 1밀리초는 1000 마이크로 초, 1초는 100만 마이크로 초. g. An interrupt service routine should be as light as possible so that it. Re: ATTiny 85 timers,whats the best. At one million ‘ticks’ per second, we can do. Servos have integrated gears and a shaft that can be precisely controlled. So, since (by reading the link) we also. The code uses the "delay" function which waits the desired number of milliseconds before continuing with. greiman on Jul 11, 2021. (The biggest number you can represent as a 16-bit signed integer is 32767. The Arduino Zero uses its system ticker to generate delay(), delaymicroseconds(), millis() and micros(). 7 hours = 1000 * 60 * 60 * 7 = 25,200,000. For example, how it is done in Arduino : millis() // function - returns the number of milliseconds since the start of the program micros() // function - the same, but returns microseconds. 현재 정확한 지연을 얻을 수 있는 최대 값은 16383이며. 2. delayMicroseconds () deaktiviert ab Arduino 0018 keine Interrupts mehr. While these functions are easy, your program can not do other work during the delay. jaainaveen February 21, 2019, 5:29am 1. 32 KHz. On 16 MHz Arduino boards (e. I hope you can help me. The argument is an unsigned long which on a 16-bit Arduino is a 32-bit unsigned integer type, having a maximum value of 4,294,967,295. I encountered the following problem when using it: if I use a value such as delay_us(20), it doesn't work! Driving a pin (from high to low and vice. 25 uS (ie. I would like to toggle an output pin in the order of microseconds so use the function delayMicroseconds. OUTPUT); // sets the digital pin as output } void loop() { digitalWrite(outPin, HIGH); // sets the pin on delayMicroseconds(50); // pauses for 50 microseconds digitalWrite(outPin, LOW); //. There are a thousand microseconds in a millisecond, and a million microseconds in a second. delayMicroseconds not working on STM32F103C8T6. This number is quite large but is well within the scope of an unsigned long: 32 bits = (2^32. Hi Michael, hFramework is based on RTOS (Real Time Operating System) that works with 2kHz system timer. soudrug wrote: Hi, I'm trying to read data from RHT03 sensor (using bcm2835 library) and it requires microseconds timing. It always returns ZERO when the time-out. micro có kiểu dữ liệu là unsigned int. 今回はArduinoの速さについてです。目次は以下。 delay()じゃ遅すぎる tone()関数で周波数を測定 delaymicroseconds()関数の場合 まとめ delay()じゃ遅すぎる 手軽で使えるマイコン、Arduino。私も互換ボードを一枚持っております。 ELEGOO Arduino用 Nanoボード V3. . 5nS, +/- interrupts/overhead/etc) or set up a timer to count exact clock cycles, and then convert to your preferred units at the user interface level. Pauses the program for the amount of time (in microseconds) specified as parameter. If we load this sketch onto our Arduino and. I just started using Arduino and so far I've used both delay () and delayMicroseconds (). Note that, there are a few cycles between the delays, so as you get shorter timeperiods, you will get less and less accuracy. I am using the ATMega328P at 11. The millis () function counts in milliseconds and starts over from the beginning every 50 days. There are a thousand microseconds in a millisecond and a million microseconds in a second. However I would like to get a step up and simulate higher frequencies, up to 10000 Hz. delayMicroseconds () deaktiviert ab Arduino 0018 keine Interrupts mehr. Duemilanove and Nano), this function has a resolution of four microseconds (i. Anmerkungen und Warnungen. A partir da versão Arduino 0018, delayMicroseconds () não mais desativa interrupções. The real time clock method is the most accurate way but otherwise use millis. There are a thousand microseconds in a millisecond, and a million microseconds in a second. Switch to “Standby” mode, when you are not executing any task, which will allow us to save energy. Another advantage of not using delay() or delayMicroseconds() is that with the technique in the tutorial your code will automatically start every sample after 200 µsecs regardless of how long the. One could strip off using the Arduino core code and use the ESP32's API to read the A:D and strip off some computing time. This could change in future Arduino releases. They are meant as convenience functions where actual time values can be specified rather than a number of cycles to wait for. There are a thousand microseconds in a millisecond, and a million microseconds in a second. 4,294,967,295 / 1,000,000 = 4294. So we can count up to 49. delayMicroseconds() 함수 매개변수에 지정된 시간(마이크로 초)동안 프로그램을 멈춘다. 3. You could hand-code the delay. Currently, the largest value that will produce an accurate delay is 16383. Limitations of millis () and micros () Arduino millis() count the time in milliseconds and we can store that data in an unsigned long variable. If ESP Timers prove problematic, then I like your assembler-delay idea. Hi all, I'm a new member. With delay(), you can wait up to 429497295 ms, or about 49. Arduino の delayMicroseconds () 関数を使用して、マイクロ秒単位で遅延を追加できます。. So, if you don't compile your sketch specifying the correct board (but I have compiled it for the right board , the tiny85 running at 1Mhz or I have the option of choozing 8 Mhz both of which have the correct board. g. The delay () function does not accept float values and therefore is always rounding to 1 or 0, forcing my piezo buzzer to only play one note regardless of the inputted frequency and duration. The delay () function does not accept float values and therefore is always rounding to 1 or 0, forcing my piezo buzzer to only play one note regardless of the inputted frequency and duration. delay (5) = 100 Hz at flow computer. millis () will wrap around to 0 after about 49 days (micros. Arduinoリファレンスの文章は Creative Commons Attribution-Share Alike 3. This library allows an Arduino board to control RC (hobby) servo motors. The interval is specified in microseconds, which may be an integer or floating point number, for more highly precise timing. 015% will be difficult to meet. If you need better resolution, micros () may be the way to go. example of code I'm using. This function works very accurately in the range 3 microseconds and up. the value returned is always a. @16Mhz, there are 16 instructions per microsecond. For a more complete version that can handle various clock frequencies, see the delayMicroseconds() function from the Arduino AVR core. On the boards from the Arduino Portenta family this function has a resolution of one microsecond on all cores. Assumes a 8 or 16 MHz clock. With delayMicroseconds() you can provide a number of microseconds to sleep. On a standard servo, this will set the angle of the shaft. Certain things do go on while the delay () function is controlling the Atmega chip, however, because the delay function does not disable interrupts. Pauses the program for the amount of time (in microseconds) specified as parameter. Erfahrene Programmierer vermeiden normalerweise die Verwendung von delay () für das Timing von Ereignissen, die länger als 10 Millisekunden sind, es sei denn, der Arduino-Sketch ist sehr einfach. 매개변수에 지정된 시간 (마이크로 초)동안 프로그램을 멈춘다. Certain things do go on while the delay () function is controlling the Atmega chip, however, because the delay function does not disable interrupts. Instead, set a flag and put the loop in the Arduino sketch’s loop()-method. Hi all, Being aware of the following bug with micros() function in ESP32 arduino, I have jumped into the FOCutils. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. println (println = print line) function to print the value of millis. Which can be used to create a time base for various events in your applications (like LED blinking, short pulse generation, or whatever). There are a thousand microseconds in a millisecond, and a million. 5%. Duemilanove und Nano) hat diese Funktion eine Auflösung von vier Mikrosekunden (d. Because a delay inside an interrupt causes that interrupt and other (lower priority) interrupts not to execute anymore until the delay is over. e. Currently, the largest value that will produce an accurate delay is 16383. If your program requires executing actions with a resolution higher than one millisecond, then use micros (). e. micro: thời gian ở mức micro giây. DelayMicroseconds function, type only accepts integer numbers, so I can only mean a delay of 12 microseconds, when I draws 12. That is how other arduino boards work and a lot of code and libraries expect delay to work as per the documentation. delayMicroseconds() - Arduino Reference. 001); end. What are other options for creating the pause between digital High / Low being. int outPin = 8; // digital pin 8 void setup() { pinMode(outPin, OUTPUT); // sets the digital pin as output } void loop() { digitalWrite(outPin, HIGH); // sets the pin on. All good so far, using the delay command I can read frequencies up to 494 Hz, with the delay 1 microseconds. _delay_us (1. Attach the GND pin of the HC-SR04 to one of the GND pins on the Arduino. We cannot assure that delayMicroseconds will perform precisely for smaller delay-times. The idea is to: Configure the built-in timers to generate a 20 KHz PWM signal. g. I noticed that the delayMicroseconds () only accepts whole numbers meaning, it won't. Description Pauses the program for the amount of time (in microseconds) specified as parameter. The Arduino millis () is a timer-based function that returns to you the time elapsed (in milliseconds) since the Arduino board was powered up. I have been working on an LED controller that uses a Return-to-zero protocol that requires me to send high and low signals at delays of 0. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. To install this, click the code button, then Download Zip. The Arduino delayMicroseconds. delayMicroseconds関数 delayMicroseconds関数は指定した時間(μs)プログラムを止めます。 使用例 Arduino IDEで使用するdelay関数の使い方は以下の通りです。 試しにこのプログラムをArduino UNOで実行すると、13ピンのLEDが蛍の様に不規則に明るさが変化します。 10. Currently, the largest value that can produce an accurate delay is 16383. Currently, the largest value that will produce an accurate delay is 16383. The goal of delayMicroseconds() is to have delays in the order of 0. println in the code. 1 second = 1000 milliseconds. The default timeout settings are available from the WIRE_DEFAULT_TIMEOUT and WIRE_DEFAULT_RESET_WITH_TIMEOUT macro. If I go into a little detail, I have boards such as Raspberry Pi 3 B+, Arduino DUE, Esp32. This leaves timer counters peripherals: TCC0, TCC1, TCC2, TC3, TC4 and TC5 free to be used for your own. Ideally, 500ns or less. Currently, the largest value that will produce an accurate delay is 16383. tarduino800 December 8, 2015, 8:50pm 1. *; Arduino arduino; int speakerOut = 11;Again, the problem is with the arithmetic, not with the delay () function. delay (5000) - means delay of 5 sec. A partir da versão Arduino 0018, delayMicroseconds () não mais desativa interrupções. The time it takes to execute an instruction depends on the type of Arduino board because different boards have different frequencies. digitalWrite (2, 0); pause (0. int outPin = 8; // digital pin 8. Some interesting info about delayMicroseconds(). There are two ways you can control the speed of your stepper motor.