机器人制作之STC单片机控制步进电机
1、#include <STC15F2K60S2.H>
//2相4拍，STEP1-STEP2-STEP3-STEP4是顺时针转动，STEP1-STEP4-STEP3-STEP2是逆时针转动。
#define STEP1 {A1=1;A2=0;B1=1;B2=0;}
#define STEP2 {A1=1;A2=0;B1=0;B2=1;}
#define STEP3 {A1=0;A2=1;B1=0;B2=1;}
#define STEP4 {A1=0;A2=1;B1=1;B2=0;}
sbit EN1 = P1^0;
sbit A1 = P1^1;
sbit A2 = P1^2;
sbit EN2 = P1^3;
sbit B1 = P1^4;
sbit B2 = P1^5;
2、//延时函数
void DelayMS(unsigned int a){
unsigned int i;
while( a-- != 0){
for(i = 0; i < 600; i++);
}
}
3、/*****
函数名：步进电机控制
调用：stepper(bit direction,unsigned char speed,unsigned long steps)
参数：direction(控制方向0为顺时针,1为逆时针)，speed(控制速度最快是1,速度快容易失步)，steps(走多少步)
返回值：无
*****/
void stepper(bit direction,unsigned char speed,unsigned long steps){
unsigned long j;
unsigned long k=0;
//stepsX4=steps/4;
if(direction==0){ //顺时针
for(j=0;j<steps;j++){
STEP1;
DelayMS(speed);
k++;
if(k==steps){break;} //steps一步是1.8度，到达设定步数就跳出循环
STEP2;
DelayMS(speed);
k++;
if(k==steps){break;}
STEP3;
DelayMS(speed);
k++;
if(k==steps){break;}
STEP4;
DelayMS(speed);
k++;
if(k==steps){break;}
}
}else{ //逆时针
for(j=0;j<steps;j++){
STEP1;
DelayMS(speed);
k++;
if(k==steps){break;}
STEP4;
DelayMS(speed);
k++;
if(k==steps){break;}
STEP3;
DelayMS(speed);
k++;
if(k==steps){break;}
STEP2;
DelayMS(speed);
k++;
if(k==steps){break;}
}
}
}
4、//主函数
void main(void)
{
EN1=1;
EN2=1;
while(1){
stepper(0,5,200);
DelayMS(1000);
stepper(1,1,200);
DelayMS(1000);
}
}
