Arduino使用步进电机驱动器控制56步进电机

2023-04-23 63 0

电子集成模块使用教程专栏收录该内容查看全部 7 篇文章

**接线图**
![](https://qiniu.lovedcode.com/Blog/article/8cb43492094c683e3f8199d0ab50c510.jpg)

**代码**
```
//#include "pwm.h"

/*用arduino的单片机接DM542驱动器来控制57步进电机。采用共阴极接法，即ENA不接，PUL-与DIR-串接单片机GND，PUL+接单片机9口给脉冲，DIR+接8口给高低电平（高电平正转，低电平反转）,
 * 驱动器输出端A+接红，A-接绿，B+接黄，B-接蓝，供电直流24v。
 * 定义引脚8作为方向控制，定义引脚9作为PUL端（PWM引脚），程序定义方向，stepper_direction = true，步进电机正转；stepper_direction = false反转。
 * 通过串口输入控制指令，lighton 二极管通电发光，lightoff 二极管断电熄灭，left/right控制前进/后退方向，直接输入数字运行，输入stop/0表示停止运行，
                        输入 255 电机快速转动，输入 256 电机慢速转动。        输入pick进行一次往复来回运行。   */

//信号灯输出口
const int LED_MSG_PIN = 13;

//定义了板上的控制端，8作为方向
const int DIRECTION_PIN = 8;

//定义了PWM引脚，需要将这个脚接入PUL端
const int SPEED_PUL_PIN = 9;

//定义串口接受数据的全局变量
String comdata = "";

//步进电机的转动方向
boolean stepper_direction = false;   //默认方向向右，DIR = LOW，电机反转

//步进电机速度,wait ms（间隔时间越小,速度越快）
int stepperSpeed = 0;

//来回走动运行的次数
int i_run_times = 50;

//脉冲次数
long int pulse_cnt = 0;

boolean is_control_stepper = false;

void setup()
{
  // put your setup code here, to run once:

/*  https://playground.arduino.cc/Main/TimerPWMCheatsheet/
  TCCR0B = TCCR0B & 0b11111000 | <setting>;  //Pins 9 and 10:
            Setting  Divisor Frequency
            0x01     1       31250
            0x02     8       3906.25
            0x03     64     488.28125     DEFAULT
            0x04     256     122.0703125
            0x05     1024     30.517578125*/
  //TCCR1B = (TCCR1B & 0b11111000) | 0x03;

Serial.begin(9600); //设置

pinMode(LED_MSG_PIN, OUTPUT);
  pinMode(DIRECTION_PIN, OUTPUT);
  pinMode(SPEED_PUL_PIN, OUTPUT);
}

void loop()
{
  // put your main code here, to run repeatedly:
  char val;
  while (Serial.available() > 0)
  {
    //comdata += char(Serial.read());
    val = char(Serial.read());
    if ((val != '\r') && (val != '\n'))
    {
      comdata += val;
    }
    delay(2);
  }

if (comdata.length() > 0)
  {
    Serial.println(comdata + " rcv ok");
    //Serial.println(comdata);
    if (comdata == "lighton")
    {
      digitalWrite(LED_MSG_PIN, HIGH);
      delay(300);
    }
    else if (comdata == "lightoff")
    {
      digitalWrite(LED_MSG_PIN, LOW);
      delay(300);
    }
    else if (comdata == "left")
    {
      stepper_direction = true; //步进电机正转
      digitalWrite(DIRECTION_PIN, HIGH);
      Serial.println("go forward.");
      delay(300);
    }
    else if (comdata == "right")
    {
      stepper_direction = false; //步进电机反转
      digitalWrite(DIRECTION_PIN, LOW);
      Serial.println("go backward.");
      delay(300);
    }
    else if (comdata == "stop")
    {
      digitalWrite(LED_MSG_PIN, LOW);
      //控制步进电机
      analogWrite(SPEED_PUL_PIN, 0);
      delay(300);
    }
    else if (comdata == "pick")
    {
      //int i = 0;
      //开始向前
      digitalWrite(DIRECTION_PIN, HIGH);
      analogWrite(SPEED_PUL_PIN, 1);
      digitalWrite(LED_MSG_PIN, HIGH); 
      for (int i = 0; i < i_run_times; i++)
      {
        if(Serial.read() == "0"){     //如何在往复运动中控制急停
        i = i_run_times;
        }
        delay(100);
      }
      analogWrite(SPEED_PUL_PIN, 0);

//开始向后
      digitalWrite(DIRECTION_PIN, LOW);
      analogWrite(SPEED_PUL_PIN, 1);

for (int i = 0; i < i_run_times; i++)
      {
        delay(100);
      }
      analogWrite(SPEED_PUL_PIN, 0);
      digitalWrite(LED_MSG_PIN, LOW);
      
    }

else
    {
      //开始读取输入的数字
      boolean is_number = true;
      //逐个字符读入检查是否数字
      for (int i = 0; i < comdata.length(); i++)
      {
        int inChar = comdata[i];
        if (!(isDigit(inChar)))    //isDigit()主要用于检查其参数是否为十进制数字字符
        {
          is_number = false;
        }
      }
      //判断输入是否为纯数字
      if (!is_number)  //不是纯数字输入
      {
        Serial.println(comdata +" 未知指令");
      }
      else if(is_number)  //纯数字输入（速度值）
      {
        stepperSpeed = comdata.toInt(); //步进电机越小速度越快
        //开始控制电机
        is_control_stepper = true;
        if(stepperSpeed > 0 && stepperSpeed < 255)        //速度大于0
        {
          analogWrite(SPEED_PUL_PIN, stepperSpeed);
          digitalWrite(LED_MSG_PIN, HIGH);
          Serial.println("stepper Speed: " + comdata + ".");
        }
        else if(stepperSpeed == 0)   //速度等于0
        {
        analogWrite(SPEED_PUL_PIN, stepperSpeed);
        digitalWrite(LED_MSG_PIN, LOW);
        Serial.println("stepper STOP!");  
        }
        else if(stepperSpeed == 255)
        {
          digitalWrite(LED_MSG_PIN, HIGH); 
          for(int i = 0; i < 3000; i++)  
          {
              digitalWrite(SPEED_PUL_PIN,0);
              delayMicroseconds(100);
              digitalWrite(SPEED_PUL_PIN,1);
              delayMicroseconds(100); 
          }
          Serial.println("Intermittent Move Stop");
          digitalWrite(LED_MSG_PIN, LOW);
        }
        
        else if(stepperSpeed == 256)
        {
          digitalWrite(LED_MSG_PIN, HIGH); 
          for(int i = 0; i < 5000; i++)  
          {
              digitalWrite(SPEED_PUL_PIN,0);
              delayMicroseconds(2000);
              digitalWrite(SPEED_PUL_PIN,1);
              delayMicroseconds(2000);
          }
          Serial.println("Intermittent Move Stop");
          digitalWrite(LED_MSG_PIN, LOW);
        }
      }
    }
  }

//是否控制步进电机
  if (is_control_stepper)
  {
    //控制步进电机
    analogWrite(SPEED_PUL_PIN, stepperSpeed);
  }

comdata = "";
}

```

**测试**
串口波特率：9600
```
1 rcv ok
stepper Speed: 1.
50 rcv ok
stepper Speed: 50.
255 rcv ok
Intermittent Move Stop
right rcv ok
go backward.
left rcv ok
go forward.
0 rcv ok
stepper STOP!
```