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모터드리아버:모 / 라즈베리파이:라

모1:라19

모2:라21

모3:라16

모4:라18

모9:라VCC

모10:라GND

#include <stdio.h>
#include <wiringPi.h>

#define OUT1 12      //BCN_GPIO 10
#define OUT2 13      //BCM_GPIO 9
#define OUT3 4       //BCM_GPIO 23
#define OUT4 5       //BCM_GPIO 24

void setsteps(int w1, int w2, int w3, int w4)
    {
         pinMode(OUT1,OUTPUT);
         digitalWrite(OUT1,w1);
         pinMode(OUT2,OUTPUT);
         digitalWrite(OUT2,w2);
         pinMode(OUT3,OUTPUT);
         digitalWrite(OUT3,w3);
         pinMode(OUT4,OUTPUT);
         digitalWrite(OUT4,w4);
     }

 void forward (int del,int steps)
     {
          int i;
          for(i=0;i<=steps;i++)
          {
                  setsteps(1,1,0,0);
                  delay(del);
                  setsteps(0,1,1,0);
                  delay(del);
                  setsteps(0,0,1,1);
                  delay(del);
                  setsteps(1,0,0,1);
                  delay(del);
          }
      }

void backward (int del,int steps)
      {
           int k;
           for(k=0;k<=steps;k++)
           {
                   setsteps(1,0,0,1);
                   delay(del);
                   setsteps(0,0,1,1);
                   delay(del);
                   setsteps(0,1,1,0);
                   delay(del);
                   setsteps(1,1,0,0);
                   delay(del);
           }
      }

int main(void)
{
    if(wiringPiSetup() == -1)
    return 1;

        for(;;)
        {
            forward(5,10);
          //  delay(1000);
          //  backward(50,10);
          //  delay(1000);
          }

    return 0;
}