• -h or –halfStep: half step

Additional Exercises:

The "inverse device" to the stepping motor is a rotary encoder. Here we do not sent the pulse sequence to move a motor but we receive the receive the sequence to be able to tell by how far the motor has moved. The encoder is usually fixed to the motor shaft and it tells us the position of the motor.

Reading out an encoder is not really part of this exercise but since we have such an encoder in our sensor kit I played on it and I give you some code to read out the encoder in the solutions section to this exercise.