例6：改变电机速度 -
使用Adafruit电机护罩（v1）
此示例与示例5完全相同，但不使用Easy Driver或Big Easy Driver，而是使用Adafruit Motor Shield。第一个草图用于v1.2护罩，下一个草图（见下文）用于v2护罩。
另请注意，由于v1 AFMotorShield几乎占用了所有数字I / O引脚，因此我们必须将三个按钮移到模拟输入上。这很好，因为您也可以始终将模拟输入引脚用作数字输入。在这个例子中我们也没有使用任何微步进，所以我们的电机有200步/转。
当然，Fritzing没有Adafruit Motor Shield，因此我无法轻易为您创建绘图。但它很简单 - 步进电机进入电机护罩上的M1和M2端子，将电机电源放入电机屏蔽的M +和GND端子，取三根开关电线并连接到A5，A4和A3 ，锅的中心抽头转到A0，然后将所有开关的另一侧连接到GND，并将电位器的顶部和底部连接到+5和GND，然后你就完成了设置。我用Arduino Uno测试了这段代码。（我尝试使用UNO32，但我无法使用内置上拉模拟输入，因为我不认为UNO32可以做到这一点。）
// Example6 code for Brian Schmalz's Easy Driver Example page
// http://www.schmalzhaus.com/EasyDriver/EasyDriverExamples.html
#include <AccelStepper.h>
#include <AFMotor.h>
// Define the stepper and the pins it will use
AF_Stepper motor1(200, 1);
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
void forwardstep() {
motor1.onestep(FORWARD, SINGLE);
}
void backwardstep() {
motor1.onestep(BACKWARD, SINGLE);
}
AccelStepper stepper1(forwardstep, backwardstep); // use functions to step
// Define our three input button pins
#define LEFT_PIN A5
#define STOP_PIN A4
#define RIGHT_PIN A3
// Define our analog pot input pin
#define SPEED_PIN A0
// Define our maximum and minimum speed in steps per second (scale pot to these)
#define MAX_SPEED 500
#define MIN_SPEED 0.1
void setup() {
// The only AccelStepper value we have to set here is the max speeed, which is higher than we'll ever go
stepper1.setMaxSpeed(500.0);
// Set up the three button inputs, with pullups
pinMode(LEFT_PIN, INPUT_PULLUP);
pinMode(STOP_PIN, INPUT_PULLUP);
pinMode(RIGHT_PIN, INPUT_PULLUP);
}
void loop() {
static float current_speed = 0.0; // Holds current motor speed in steps/second
static int analog_read_counter = 1000; // Counts down to 0 to fire analog read
static char sign = 0; // Holds -1, 1 or 0 to turn the motor on/off and control direction
static int analog_value = 0; // Holds raw analog value.
// If a switch is pushed down (low), set the sign value appropriately
if (digitalRead(LEFT_PIN) == 0) {
sign = 1;
}
if (digitalRead(RIGHT_PIN) == 0) {
sign = -1;
}
if (digitalRead(STOP_PIN) == 0) {
sign = 0;
}
// We only want to read the pot every so often (because it takes a long time we don't
// want to do it every time through the main loop).
if (analog_read_counter > 0) {
analog_read_counter--;
}
else {
analog_read_counter = 3000;
// Now read the pot (from 0 to 1023)
analog_value = analogRead(SPEED_PIN);
// Give the stepper a chance to step if it needs to
stepper1.runSpeed();
// And scale the pot's value from min to max speeds
current_speed = sign * ((analog_value/1023.0) * (MAX_SPEED - MIN_SPEED)) + MIN_SPEED;
// Update the stepper to run at this new speed
stepper1.setSpeed(current_speed);
}
// This will run the stepper at a constant speed
stepper1.runSpeed();
}
并配有Adafruit Motor Shield V2
请注意，Left，Stop和Right输入现在返回到V2屏蔽的数字引脚2,3和4，因为它不需要它们，因此我们可以再次使用它们。
// Example6 code for Brian Schmalz's Easy Driver Example page
// http://www.schmalzhaus.com/EasyDriver/EasyDriverExamples.html
#include <AccelStepper.h>
#include <Wire.h>
#include <Adafruit_MotorShield.h>
// Define the stepper and the pins it will use
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_StepperMotor *motor1 = AFMS.getStepper(200, 1);
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
void forwardstep() {
motor1->onestep(FORWARD, SINGLE);
}
void backwardstep() {
motor1->onestep(BACKWARD, SINGLE);
}
AccelStepper stepper1(forwardstep, backwardstep); // use functions to step
// Define our three input button pins
#define LEFT_PIN 2
#define STOP_PIN 3
#define RIGHT_PIN 4
// Define our analog pot input pin
#define SPEED_PIN A0
// Define our maximum and minimum speed in steps per second (scale pot to these)
#define MAX_SPEED 500
#define MIN_SPEED 0.1
void setup() {
AFMS.begin();
// The only AccelStepper value we have to set here is the max speed, which is higher than we'll ever go
stepper1.setMaxSpeed(500.0);
// Set up the three button inputs, with pullups
pinMode(LEFT_PIN, INPUT_PULLUP);
pinMode(STOP_PIN, INPUT_PULLUP);
pinMode(RIGHT_PIN, INPUT_PULLUP);
}
void loop() {
static float current_speed = 0.0; // Holds current motor speed in steps/second
static int analog_read_counter = 1000; // Counts down to 0 to fire analog read
static char sign = 0; // Holds -1, 1 or 0 to turn the motor on/off and control direction
static int analog_value = 0; // Holds raw analog value.
// If a switch is pushed down (low), set the sign value appropriately
if (digitalRead(LEFT_PIN) == 0) {
sign = 1;
}
if (digitalRead(RIGHT_PIN) == 0) {
sign = -1;
}
if (digitalRead(STOP_PIN) == 0) {
sign = 0;
}
// We only want to read the pot every so often (because it takes a long time we don't
// want to do it every time through the main loop).
if (analog_read_counter > 0) {
analog_read_counter--;
}
else {
analog_read_counter = 3000;
// Now read the pot (from 0 to 1023)
analog_value = analogRead(SPEED_PIN);
// Give the stepper a chance to step if it needs to
stepper1.runSpeed();
// And scale the pot's value from min to max speeds
current_speed = sign * ((analog_value/1023.0) * (MAX_SPEED - MIN_SPEED)) + MIN_SPEED;
// Update the stepper to run at this new speed
stepper1.setSpeed(current_speed);
}
// This will run the stepper at a constant speed
stepper1.runSpeed();
}
例7：串行命令输入
使用与示例1完全相同的硬件设置，此草图说明了如何使用串行端口中的简单单字母命令来控制步进电机的方向和速度。
// Example7 for Brian Schmalz's Easy Driver Example page
// http://www.schmalzhaus.com/EasyDriver/EasyDriverExamples.html
// We control the direction and speed of a stepper using the
// arduino serial port. Note that (if using the Serial Monitor)
// you will need to press Enter after each command.
#include <AccelStepper.h>
AccelStepper stepper(AccelStepper: RIVER, 9, 8);
int spd = 1000; // The current speed in steps/second
int sign = 1; // Either 1, 0 or -1
void setup()
{
Serial.begin(9600);
stepper.setMaxSpeed(1000);
stepper.setSpeed(1000);
}
void loop()
{
char c;
if(Serial.available()) {
c = Serial.read();
if (c == 'f') { // forward
sign = 1;
}
if (c == 'r') { // reverse
sign = -1;
}
if (c == 's') { // stop
sign = 0;
}
if (c == '1') { // super slow
spd = 10;
}
if (c == '2') { // medium
spd = 100;
}
if (c == '3') { // fast
spd = 1000;
}
stepper.setSpeed(sign * spd);
}
stepper.runSpeed();
} |
发表于 2019-5-6 14:49:23
