Compiling the Arduino sketch

Select board

STEP400 is compatible with Arduino Zero, so install "Arduino SAMD Boards (32-bits ARM Cortex-M0+)" from the Arduino IDE's Board Maneger. You can refer to the following page for this procedure.

Getting started with the Arduino Zero

Installing libraries

Libraries to install

Install the following libraries from the library manager in the Arduino IDE. You can find a detailed guide to install library here.

• OSC Library
• ArduinoJSON
• Adafruit SleepyDog Arduino Library
• Ponoor PowerSTEP01 Library

Note for the OSC library

There are many libraries to support OSC. Use the OSC Library from CNMAT. In the Arduino IDE, go to "Manage Libraries" and install the library named "OSC". Note that the creators are listed as Adrian Freed and Yotam Mann, not as the organization name CNMAT.

Compiling a sketch

The files in the repository are uploaded together with the Visual Studio plugin (VisualMicro) files, but you can open them directly from the Arduino IDE. The sketch is here; https://github.com/kanta/STEP400_prototype/tree/master/rev4/STEP400_proto_r4_firmware/STEP400_proto_r4_firmware

In the Arduino IDE, select the board "Arduino Zero (Native USB port)" and compile it.

Notes for uploading the Arduino sketch

• If you connect only USB to the board, you can write sketches, but the motor driver chip won't boot up. So you can't perform any operations that involve exchanging messages with the driver.
• It seems to be a quirk of the Arduino Zero that it sometimes fails to write. In that case, try double-clicking the RESET switch and putting it in bootloader mode and trying again. In bootloader mode, the sketch won't boot and L will fade slowly. Also, you have to select a different serial port from the normal one.