Arduino的步进电机速度控制-Java 学习之路

我正在 Build 一个小项目，根据人按住开关的时间移动步进电机，时间越长，速度越高 . 我正在使用的代码提高了速度，我可以在串行监视器上看到它，但步进电机不会改变 . 我想知道是否可以在不使用电位器的情况下改变步进器的速度以及如何？

#include <Stepper.h>
const int ForwardLimitSwitchPin = 2;
const int ReverseLimitSwitchPin = 3;
const int StepperStepPin = 4;
const int StepperDirectionPin = 5;
const int LimitSwitchActivated = LOW;  // Limit switch grounds pin
const int StepperMaxRPM = 255;//default = 100


const int swDireita = 13;
const int swEsquerda = 12;
int velMotor = 0;

static const unsigned long REFRESH_INTERVAL = 1000; // ms
static unsigned long lastRefreshTime = 0;

boolean flag;

//Stepper stepper(200, StepperStepPin, StepperDirectionPin);
Stepper stepper(200, 8, 9, 10, 11);


void setup() {
  pinMode(swDireita, INPUT);
  pinMode(swEsquerda, INPUT);

  digitalWrite(swDireita, HIGH);
  digitalWrite(swEsquerda, HIGH);

  pinMode(ForwardLimitSwitchPin, INPUT_PULLUP);
  pinMode(ReverseLimitSwitchPin, INPUT_PULLUP);
  stepper.setSpeed(StepperMaxRPM);


  Serial.begin(115200);
}

void loop() {
  while (digitalRead(swDireita) == 0) {
    motorDireita();
  }

  velMotor = 0;

  while (digitalRead(swEsquerda) == 0) {
    motorEsquerda();
  }

  velMotor = 0;

  while (digitalRead(swDireita) == 0 && digitalRead(swEsquerda) == 0) {
    motorParado();
  }
  velMotor = 0;
}

void motorParado() {
  Serial.print("Ambos ativados, parada");
  Serial.print("\n");
  stepper.setSpeed(0);
  stepper.step(0);

}


void motorDireita() {
  //51 por segundo para 5 seg total
  /*if(!flag){
    flag = true;
    velMotor = 51;

    }else */
  if (velMotor < 255 && millis() - lastRefreshTime >= REFRESH_INTERVAL) {
    lastRefreshTime += REFRESH_INTERVAL;
    velMotor += 25;
  }

  //int motorSpeed = map(sensorReading, 0, 1023, 0, 100);
  //int motorSpeed = map(velMotor, 0, 1023, 0, 255);

  Serial.print("direita ativada, velocidade: ");
  Serial.print(velMotor);
  //Serial.print(motorSpeed);
  Serial.print("\n");

  stepper.setSpeed(velMotor);
  //stepper.setSpeed(motorSpeed);
  stepper.step(1);
}

void motorEsquerda() {
  //51 por segundo para 5 seg total

  if (velMotor < 255 && millis() - lastRefreshTime >= REFRESH_INTERVAL) {
    lastRefreshTime += REFRESH_INTERVAL;
    velMotor += 51;
  }

  Serial.print("Esquerda ativida, velocidade: ");
  Serial.print(velMotor);
  Serial.print("\n");

  stepper.setSpeed(velMotor);
  stepper.step(-1);
}

1 回答

对于任何来到这里的人，我都找到了解决方案 . 看起来双极步进电机只是以一定的速度{80,100,160,180,200,220,255}移动，我的代码全部超过0-255，所以我只是根据时间改变了代码以达到一定的速度 . 按下开关！感谢xD的帮助

#include <Stepper.h>

/*
  const int ForwardLimitSwitchPin = 2;
  const int ReverseLimitSwitchPin = 3;
  const int StepperStepPin = 4;
  const int StepperDirection = 5;
*/
const int StepperMaxRPM = 255; //default = 100

const int swDireita = 13;
const int swEsquerda = 12;
int velMotor = 80;

static const unsigned long REFRESH_INTERVAL = 1000; //ms
static unsigned long lastRefreshTime = 0;

//Stepper stepper(200, StepperStepPin, StepperDirectionPin);
Stepper stepper(200, 8, 9, 10, 11);

void setup() {
  Serial.begin(115200);

  pinMode(swDireita, INPUT);
  pinMode(swEsquerda, INPUT);

  digitalWrite(swDireita, HIGH);
  digitalWrite(swEsquerda, HIGH);

  stepper.setSpeed(StepperMaxRPM);
}

void loop() {
  while (digitalRead(swDireita) == 0) {
    motorDireita();
  }
  while (digitalRead(swEsquerda) == 0) {
    motorEsquerda();
  }
  while (digitalRead(swEsquerda) == 1 && digitalRead(swDireita) == 1) {
    Serial.print("to aqui");
    velMotor = 0;
    stepper.setSpeed(velMotor);
    Serial.print(velMotor);
  }
}

void motorDireita() {
  if (millis() - lastRefreshTime >= REFRESH_INTERVAL) {
    lastRefreshTime += REFRESH_INTERVAL;
    switch (velMotor) { //80//100//160//180//200//220//255
      case 0:
        Serial.print("antes: ");
        Serial.print(velMotor);
        velMotor = 80;
        stepper.setSpeed(velMotor);
        break;
      case 80:
        velMotor = 100;
        stepper.setSpeed(velMotor);
        break;
      case 100:
        velMotor = 160;
        stepper.setSpeed(velMotor);
        break;
      case 160:
        velMotor = 180;
        stepper.setSpeed(velMotor);
        break;
      case 180:
        velMotor = 200;
        stepper.setSpeed(velMotor);
        break;
      case 200:
        velMotor = 220;
        stepper.setSpeed(velMotor);
        break;
      case 220:
        velMotor = 255;
        stepper.setSpeed(velMotor);
        break;
    }
  }
  Serial.print(velMotor);
  Serial.print("\n");
  stepper.step(1);
}

void motorEsquerda() {
  if (millis() - lastRefreshTime >= REFRESH_INTERVAL) {
    lastRefreshTime += REFRESH_INTERVAL;
    switch (velMotor) { //80//100//160//180//200//220//255
      case 0:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 80;
        stepper.setSpeed(velMotor);
        break;
      case 80:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 100;
        stepper.setSpeed(velMotor);
        break;
      case 100:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 160;
        stepper.setSpeed(velMotor);
        break;
      case 160:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 180;
        stepper.setSpeed(velMotor);
        break;
      case 180:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 200;
        stepper.setSpeed(velMotor);
        break;
      case 200:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 220;
        stepper.setSpeed(velMotor);
        break;
      case 220:
        Serial.print("antes ");
        Serial.print(velMotor);
        velMotor = 255;
        stepper.setSpeed(velMotor);
        break;
    }
  }

  Serial.print(velMotor);
  Serial.print("\n");
  stepper.step(-1);
}

回复于 2024-04-20T08:37:58+08:00

Arduino的步进电机速度控制

1 回答

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