4.18. 4步进电机控制程序#
4.18.1. 1 控制板#
这款板子的详细资料，请查阅：https://gitnova.com/#/zh/zhControlPanel/DOIT-ARM/DOIT-ARM
4.18.2. 2 接线#
4.18.3. 3 蓝牙WiFi控制软件#
注：仅支持安卓手机
下载地址：https://github.com/SmartArduino/SmartArduino.github.io/blob/master/docs/Robot/Controller/app/base.apk
4.18.4. 4 示例程序#
WiFi/蓝牙示例程序：
#define X_EN 38
#define X_STEP A0
#define X_DIR A1
#define Y_EN A2
#define Y_STEP A6
#define Y_DIR A7
#define Z_EN A8
#define Z_STEP 46
#define Z_DIR 48
#define E_EN 24
#define E_STEP 26
#define E_DIR 28
#define MAX_PACKETSIZE 32 //串口接收缓冲区
char buffUART[MAX_PACKETSIZE];
unsigned int buffUARTIndex = 0;
unsigned long preUARTTick = 0;
int i;
enum DN
{
GO_FORWARD,
GO_BACK,
GO_RIGHT,
GO_LEFT,
STOP,
DEF
}Drive_Num=DEF;
void forward()
{
Serial.println("forward");
digitalWrite(X_DIR,HIGH);
digitalWrite(Y_DIR,LOW);
digitalWrite(Z_DIR,HIGH);
digitalWrite(E_DIR,LOW);
for(i=0;i<=100;i++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void turnleft()
{
Serial.println("turnleft");
digitalWrite(X_DIR,HIGH);
digitalWrite(Y_DIR,HIGH);
digitalWrite(Z_DIR,HIGH);
digitalWrite(E_DIR,HIGH);
for(i=0;i<=100;i++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void turnright()
{
Serial.println("turnright");
digitalWrite(X_DIR,LOW);
digitalWrite(Y_DIR,LOW);
digitalWrite(Z_DIR,LOW);
digitalWrite(E_DIR,LOW);
for(i=0;i<=100;i++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void back()
{
Serial.println("back");
digitalWrite(X_DIR,LOW);
digitalWrite(Y_DIR,HIGH);
digitalWrite(Z_DIR,LOW);
digitalWrite(E_DIR,HIGH);
for(i=0;i<=100;i++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void Stop()
{
Serial.println("stop");
digitalWrite(X_DIR,LOW);
digitalWrite(Y_DIR,LOW);
digitalWrite(Z_DIR,LOW);
digitalWrite(E_DIR,LOW);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
}
void BT()
{
char Uart_Date;
int char_to_int;
if(Serial.available())
{
char Uart_Date = Serial.read();
Serial.println(Uart_Date);
char_to_int = (int)Uart_Date;
Serial.println(char_to_int);
}
if(buffUARTIndex > 0 && (millis() - preUARTTick >= 100))//超过100ms没接到数据，则认为已经接收到完整指令
{ //data ready
buffUART[buffUARTIndex] = 0x00;
if((buffUART[0]=='C') && (buffUART[1]=='M') && (buffUART[2]=='D')) //若发送指令非法，则忽略
{
;
}
else Uart_Date=buffUART[0];
buffUARTIndex = 0;
}
switch(char_to_int)
{
case '2': Drive_Num = GO_FORWARD; break;
case '8': Drive_Num = GO_BACK; break;
case '4': Drive_Num = GO_RIGHT; break;
case '6': Drive_Num = GO_LEFT; break;
case '5': Drive_Num = STOP; break;
default: break;
}
}
void Car_control()
{
switch(Drive_Num)
{
case GO_FORWARD: forward(); break;
case GO_BACK: back(); break;
case GO_LEFT: turnleft(); break;
case GO_RIGHT: turnright(); break;
case STOP: Stop(); break;
default: break;
}
}
void setup()
{
Serial.begin(115200);
pinMode(X_EN, OUTPUT);
pinMode(X_STEP,OUTPUT);
pinMode(X_DIR, OUTPUT);
pinMode(Y_EN, OUTPUT);
pinMode(Y_STEP,OUTPUT);
pinMode(Y_DIR, OUTPUT);
pinMode(Z_EN, OUTPUT);
pinMode(Z_STEP,OUTPUT);
pinMode(Z_DIR, OUTPUT);
pinMode(E_EN, OUTPUT);
pinMode(E_STEP,OUTPUT);
pinMode(E_DIR, OUTPUT);
digitalWrite(X_EN, LOW);
digitalWrite(Y_EN, LOW);
digitalWrite(Z_EN, LOW);
digitalWrite(E_EN, LOW);
}
void loop()
{
BT();
Car_control();
}
PS2手柄示例程序：
程序里面使用到的第三方库，请自行下载：https://github.com/SmartArduino/Arduino-Third-party-Libraries
#include <PS2X_lib.h> //for v1.6
//PS2手柄引脚；
#define PS2_DAT 13
#define PS2_CMD 22
#define PS2_SEL 49
#define PS2_CLK 12
// 电机控制引脚；
#define X_EN 38
#define X_STEP A0
#define X_DIR A1
#define Y_EN A2
#define Y_STEP A6
#define Y_DIR A7
#define Z_EN A8
#define Z_STEP 46
#define Z_DIR 48
#define E_EN 24
#define E_STEP 26
#define E_DIR 28
enum DN
{
GO_FORWARD,
GO_BACK,
GO_LEFT,
GO_RIGHT,
STOP,
DEF
}Drive_Num=DEF;
/******************************************************************
* select modes of PS2 controller:
* - pressures = analog reading of push-butttons
* - rumble = motor rumbling
* uncomment 1 of the lines for each mode selection
******************************************************************/
#define pressures true
//#define pressures false
#define rumble true
//#define rumble false
PS2X ps2x; // create PS2 Controller Class
//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you connect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
int R;
void (* resetFunc) (void) = 0;
/******初始化******/
void setup()
{
pinMode(X_EN, OUTPUT);
pinMode(X_STEP,OUTPUT);
pinMode(X_DIR, OUTPUT);
pinMode(Y_EN, OUTPUT);
pinMode(Y_STEP,OUTPUT);
pinMode(Y_DIR, OUTPUT);
pinMode(Z_EN, OUTPUT);
pinMode(Z_STEP,OUTPUT);
pinMode(Z_DIR, OUTPUT);
pinMode(E_EN, OUTPUT);
pinMode(E_STEP,OUTPUT);
pinMode(E_DIR, OUTPUT);
digitalWrite(X_EN, LOW);
digitalWrite(Y_EN, LOW);
digitalWrite(Z_EN, LOW);
digitalWrite(E_EN, LOW);
Serial.begin(115200);
delay(300) ; //added delay to give wireless ps2 module some time to startup, before configuring it
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
if(error == 0){
Serial.print("Found Controller, configured successful ");
Serial.print("pressures = ");
if (pressures)
Serial.println("true ");
else
Serial.println("false");
Serial.print("rumble = ");
if (rumble)
Serial.println("true)");
else
Serial.println("false");
Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
Serial.println("holding L1 or R1 will print out the analog stick values.");
Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");
}
else if(error == 1){
Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
resetFunc();
}
else if(error == 2){
Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
}
else if(error == 3){
Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
}
// Serial.print(ps2x.Analog(1), HEX);
type = ps2x.readType();
switch(type) {
case 0:
Serial.print("Unknown Controller type found ");
break;
case 1:
Serial.print("DualShock Controller found ");
break;
case 2:
Serial.print("GuitarHero Controller found ");
break;
case 3:
Serial.print("Wireless Sony DualShock Controller found ");
break;
}
}
//定义小车运动方式
void turnLeft()//左转
{
digitalWrite(X_DIR,HIGH);
digitalWrite(Y_DIR,HIGH);
digitalWrite(Z_DIR,HIGH);
digitalWrite(E_DIR,HIGH);
for(R=0;R<=100;R++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void turnRight()//右转
{
digitalWrite(X_DIR,LOW);
digitalWrite(Y_DIR,LOW);
digitalWrite(Z_DIR,LOW);
digitalWrite(E_DIR,LOW);
for(R=0;R<=100;R++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void forward()//前进
{
digitalWrite(X_DIR,HIGH);
digitalWrite(Y_DIR,LOW);
digitalWrite(Z_DIR,HIGH);
digitalWrite(E_DIR,LOW);
for(R=0;R<=100;R++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void back()//后退
{
digitalWrite(X_DIR,LOW);
digitalWrite(Y_DIR,HIGH);
digitalWrite(Z_DIR,LOW);
digitalWrite(E_DIR,HIGH);
for(R=0;R<=100;R++)
{
digitalWrite(X_STEP,HIGH);
digitalWrite(Y_STEP,HIGH);
digitalWrite(Z_STEP,HIGH);
digitalWrite(E_STEP,HIGH);
delayMicroseconds(100);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
delayMicroseconds(100);
}
}
void Stop() // 停止；
{
digitalWrite(X_DIR,LOW);
digitalWrite(Y_DIR,LOW);
digitalWrite(Z_DIR,LOW);
digitalWrite(E_DIR,LOW);
digitalWrite(X_STEP,LOW);
digitalWrite(Y_STEP,LOW);
digitalWrite(Z_STEP,LOW);
digitalWrite(E_STEP,LOW);
}
void ps2()
{
/* You must Read Gamepad to get new values and set vibration values
ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
if you don't enable the rumble, use ps2x.read_gamepad(); with no values
You should call this at least once a second
*/
if(error == 1) //skip loop if no controller found
return;
if(type == 2) {//Guitar Hero Controller
return;
}
else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
//start 开始运行，电机初PWM为100；
// 电机正转；
if(ps2x.Button(PSB_PAD_UP)){
Serial.println("Up held this hard: ");
Drive_Num = GO_FORWARD;
}
// 电机反转；
else if(ps2x.Button(PSB_PAD_DOWN)){
Serial.println("Down held this hard: ");
Drive_Num = GO_BACK;
}
//左转；
else if(ps2x.Button(PSB_PAD_LEFT)){
Serial.println("turn left ");
Drive_Num = GO_LEFT;
}
//右转；
else if(ps2x.Button(PSB_PAD_RIGHT))
{
Serial.println("turn right");
Drive_Num = GO_RIGHT;
}
else
{
Drive_Num = STOP;
}
}
}
void Car_Control()
{
switch(Drive_Num)
{
case GO_FORWARD: forward(); break;
case GO_BACK: back(); break;
case GO_LEFT: turnLeft(); break;
case GO_RIGHT: turnRight(); break;
case STOP: Stop(); break;
}
}
void loop()
{
ps2();
Car_Control();
}
4.18.5. 更多资源，请关注公众号！#
