步进电机的Arduino库函数

This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it. For more on that, see Tom Igoe's notes on steppers.

函数

Stepper(steps, pin1, pin2)            步进电机定义

Stepper(steps, pin1, pin2, pin3, pin4)   步进电机定义

Description  解释

This function creates a new instance of the Stepper class that represents a particular stepper motor attached to your Arduino board. Use it at the top of your sketch, above setup() and loop(). The number of parameters depends on how you've wired your motor - either using two or four pins of the Arduino board.

Parameters  参数

steps: the number of steps in one revolution of your motor. If your motor gives the number of degrees per step, divide that number into 360 to get the number of steps (e.g. 360 / 3.6 gives 100 steps). (int)  一圈对应的步数

pin1, pin2: two pins that are attached to the motor (int)

pin3, pin4: optional the last two pins attached to the motor, if it's connected to four pins (int)

Returns  A new instance of the Stepper motor class.

setSpeed(rpm)  速度设定

Description  解释

Sets the motor speed in rotations per minute (RPMs). This function doesn't make the motor turn, just sets the speed at which it will when you call step().

Parameters  参数

rpms: the speed at which the motor should turn in rotations per minute - a positive number (long)

Returns None 无返回值

step(steps)   步数执行

Description

Turns the motor a specific number of steps, at a speed determined by the most recent call to setSpeed(). This function is blocking; that is, it will wait until the motor has finished moving to pass control to the next line in your sketch. For example, if you set the speed to, say, 1 RPM and called step(100) on a 100-step motor, this function would take a full minute to run. For better control, keep the speed high and only go a few steps with each call to step().

Parameters

steps: the number of steps to turn the motor - positive to turn one direction, negative to turn the other (int)

Returns  None

举例

例1  Stepper Motor Knob  用电位器控制步进电机步数

Control a highly accurate stepper motor using a potentiometer

Stepper motors, due to their unique design, can be controlled to a high degree of accuracy without any feedback mechanisms. The shaft of a stepper, mounted with a series of magnets, is controlled by a series of electromagnetic coils that are charged positively and negatively in a specific sequence, precisely moving it forward or backward in small "steps".

There are two types of steppers, Unipolars and Bipolars, and it is very important to know which type you are working with. For each of the motors, there is a different circuit. The example code will control both kinds of motors. See the unipolar and bipolar motor schematics for information on how to wire up your motor.

In this example, a potentiometer (or other sensor) on analog input 0 is used to control the movement of a stepper motor using the Arduino Stepper Library. The stepper is controlled by with digital pins 8, 9, 10, and 11 for either unipolar or bipolar motors.

The Arduino or Genuino board will connect to a U2004 Darlington Array if you're using a unipolar stepper or a SN754410NE H-Bridge if you have a bipolar motor.

For more information about the differences of the two types, please take a look at Tom Igoe's page on stepper motors.

Hardware Required  硬件

Arduino or Genuino Board

10k ohm potentiometer

stepper motor

U2004 Darlington Array (if using a unipolar stepper)

SN754410ne H-Bridge (if using a bipolar stepper)

power supply appropriate for your particular stepper

hook-up wires

breadboard

Circuits  电路

Below you'll find circuits for both unipolar and bipolar steppers. In either case, it is best to power your stepper motors from an external supply, as they draw too much to be powered directly from your Arduino board.

In both circuits, connect a 10k pot to power and ground, with it's wiper outputting to analog pin 0.

Note: Both circuits below are four wire configurations. Two wire configurations will not work with the code provided.

Unipolar Stepper Circuit and schematic：

Bipolar Stepper Circuit and schematic：

Code  程序

For both unipolar and bipolar steppers

 1 /*
 2 * MotorKnob
 3 ** A stepper motor follows the turns of a potentiometer (or other sensor) on analog input 0.
 4 ** http://www.arduino.cc/en/Reference/Stepper
 5 * This example code is in the public domain.
 6 */
 7
 8 #include <Stepper.h>
 9 #define STEPS 100     // change this to the number of steps on your motor
10   // create an instance of the stepper class, specifying
11   // the number of steps of the motor and the pins it's attached to
12 Stepper stepper(STEPS, 8, 9, 10, 11);
13 int previous = 0;    // the previous reading from the analog input
14
15 void setup()
16 {
17     stepper.setSpeed(30);   // set the speed of the motor to 30 RPMs
18 }
19
20 void loop()
21 {
22     int val = analogRead(0);   // get the sensor value
23   // move a number of steps equal to the change in the sensor reading
24     stepper.step(val - previous);   // remember the previous value of the sensor
25     previous = val;
26 }

例2  Stepper Speed Control  用电位器控制步进电机速度

Control the stepping speed with a potentiometer

硬件与电路部分，与上例同

Code  程序

For both unipolar and bipolar steppers

 1 /*
 2 Stepper Motor Control - speed control
 3 This program drives a unipolar or bipolar stepper motor.
 4 The motor is attached to digital pins 8 - 11 of the Arduino.
 5 A potentiometer is connected to analog input 0.
 6     The motor will rotate in a clockwise direction. The higher the potentiometer value,the faster the motor speed. Because setSpeed() sets the delay between steps,you may notice the motor is less responsive to changes in the sensor value at low speeds.
 7
 8 Created 30 Nov. 2009，Modified 28 Oct 2010，by Tom Igoe
 9 */
10
11 #include <Stepper.h>
12 const int stepsPerRevolution = 200;
13 // change this to fit the number of steps per revolution
14   // for your motor initialize the stepper library on pins 8 through 11:
15 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
16 int stepCount = 0;   // number of steps the motor has taken
17
18 void setup()
19 {
20     // nothing to do inside the setup
21 }
22
23 void loop()
24  {
25     int sensorReading = analogRead(A0); // read the sensor value:
26     int motorSpeed = map(sensorReading, 0, 1023, 0, 100);
27     // map it to a range from 0 to 100
28     if (motorSpeed > 0) // set the motor speed:
29     {
30         myStepper.setSpeed(motorSpeed);
31         myStepper.step(stepsPerRevolution / 100); // step 1/100 of a revolution:
32     }
33 }

例3  Stepper One Revolution    正转一圈反转一圈

Turn the shaft one revolution clockwise and one counterclockwise.

硬件与电路部分，与上例同

Code  程序

For both unipolar and bipolar steppers

 1 /*
 2 Stepper Motor Control - one revolution
 3 This program drives a unipolar or bipolar stepper motor.
 4 The motor is attached to digital pins 8 - 11 of the Arduino.
 5     The motor should revolve one revolution in one direction, then one revolution in the other direction.
 6
 7 Created 11 Mar. 2007，Modified 30 Nov. 2009，by Tom Igoe
 8 */
 9 #include <Stepper.h>
10 const int stepsPerRevolution = 200;
11 // change this to fit the number of steps per revolution
12  // for your motor initialize the stepper library on pins 8 through 11:
13 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
14
15 void setup()
16 {
17     myStepper.setSpeed(60);   // set the speed at 60 rpm:
18     Serial.begin(9600);   // initialize the serial port:
19 }
20
21 void loop()
22 {
23     Serial.println("clockwise");   // step one revolution in one direction:
24     myStepper.step(stepsPerRevolution);
25     delay(500);
26     Serial.println("counterclockwise");   // step one revolution in the other         direction:
27     myStepper.step(-stepsPerRevolution);
28     delay(500);
29 }

例4  One step at a time  一次只走一步

Turn the shaft step by step to check the proper wiring of the motor.

硬件与电路部分，与上例同

Code  程序

For both unipolar and bipolar steppers

 1 /*
 2 Stepper Motor Control - one step at a time
 3 This program drives a unipolar or bipolar stepper motor.
 4 The motor is attached to digital pins 8 - 11 of the Arduino.
 5     The motor will step one step at a time, very slowly. You can use this to test that you've got the four wires of your stepper wired to the correct pins. If wired correctly, all steps should be in the same direction.
 6     Use this also to count the number of steps per revolution of your motor,if you don't know it. Then plug that number into the one Revolution example to see if you got it right.
 7
 8 Created 30 Nov. 2009，by Tom Igoe
 9 */
10
11 #include <Stepper.h>
12 const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution
13     // for your motor initialize the stepper library on pins 8 through 11:
14 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
15 int stepCount = 0; // number of steps the motor has taken
16
17 void setup()
18 {
19     Serial.begin(9600);   // initialize the serial port:
20 }
21
22 void loop()
23 {
24     myStepper.step(1);   // step one step:
25     Serial.print("steps:");
26     Serial.println(stepCount);
27     stepCount++;
28     delay(500);
29 }