竖直平面作图--两个步进电机的使用
时隔一年半重回论坛，想到原来在这里遇到问题时大神们热情的相助，觉得应该回报社会一下~这是信息产品设计的大作业，利用两个步进电机和同步带，带动画笔在竖直平面完成作图
经过测试，基本实现功能，但有些抖动，以后可能也没机会完善了，发到论坛上来纪念一下吧
PS：一年半以前的作业，最近整理资料，发现了这个，自己留着也没用，放上来供大家完善
没获奖的兔斯基
视频地址：
http://v.youku.com/v_show/id_XNTU1ODc5MDQw.html
http://player.youku.com/player.php/sid/XNTU1ODc5MDQw/v.swf
以及获了奖的兔斯基
视频地址：
http://v.youku.com/v_show/id_XNTU1ODI4ODky.html
http://player.youku.com/player.php/sid/XNTU1ODI4ODky/v.swf
使用了的库函数：
http://www.geek-workshop.com/for ... thread&tid=3266
我使用了了大连好人写的库函数，链接在上面，解决了两个步进电机分别在同一时间走不同步的问题
如果想立即找到解决方案，在下面的链接的答案中找，我已放过。
http://www.geek-workshop.com/forum.php?mod=viewthread&tid=4319&page=2#pid70901
这是以前写的一个像素游戏--雷电复古版的前传~，用红外遥控器控制，16*16LED点阵实现
有意戳进：
http://www.geek-workshop.com/thread-4335-1-1.html
竖直画图装置代码贴的如下：
//垂直画图装置
//by：梁YJ 刘DY
//点坐标移动版本
//变量设定
//步进电机部分
#include <EasyStepper.h>
#define STEP1_PIN 2
#define STEP2_PIN 4
#define DIR1_PIN 6
#define DIR2_PIN 8
#define EN1_PIN 12
#define EN2_PIN 13//两个EN端悬空
#define DIR1_PIN_INVERTED true
#define DIR2_PIN_INVERTED true
#define EN1_PIN_INVERTED true
#define EN2_PIN_INVERTED true
EasyStepper stepper1(STEP1_PIN, DIR1_PIN, EN1_PIN, DIR1_PIN_INVERTED, EN1_PIN_INVERTED);
EasyStepper stepper2(STEP2_PIN, DIR2_PIN, EN2_PIN, DIR2_PIN_INVERTED, EN2_PIN_INVERTED);
int times=0;//帮助电机动,每次开始需要初始化
//坐标相关
#define D 130 //两个电机间的距离(cm)
#define base_x D/2 //定位点的坐标，为等边三角形
#define base_y 0.866*D
float init_a,init_b,init_x,init_y;//起始点
float dest_a,dest_b,dest_x,dest_y;//目标点
float da,db;//a,b的增减值
int step_a=0,step_b=0;//步进电机走的步数
float speed_a,speed_b;//步进电机走的速度
#define step_per_cm 2000/50//每cm需要走多少步
#define spd 600//步进电机最大速度
//坐标的单位是cm，允许小数
//得奖图片
int dpaint_x=
{ 3027,3713,2755,2660,2767,3015,3630,3725,3878,4091,
3796,3630,3666,3807,4221,4742,5238,5451,5640,5770,
5889,5841,5640,5451,5699,6019,6279,6456,6302,5865,
6078,6042,5900,5652,5285,5002,4824,4813,5439,5037,
5215,5652,5711,5640,5451,5167,5037,4765,4008,4327,
4623,5274,4931,4801,4907,4990,4919,3535,3394,3535,
3666,3547,2353,2459,2578,2471,2365,1076,934,1064,
1159,1064,402,568,709,532,627,414,709,579,461,639,
733,1206,1005,946,780,780,1171,1171,970,946,733,958,
1182,1313,1514,1514,1514,1514,1265,1584,1750,1750,
2034,1845,1703,1845,1608,1277,2081,1667,1573,1407,
1253,1655,1797,2081,2199,2909,2542,2542,2223,2814,
2660,2873,2128,2968};//x坐标值
int dpaint_y=
{ 4193,3385,2506,2340,2245,2316,2910,3088,3266,3385,
3160,2827,2447,2079,1805,1663,1758,1853,1615,1556,
1604,1782,2007,1877,2090,1853,1722,1841,2043,2269,
2637,3041,3361,3599,3373,3183,3207,3361,3718,3742,
3599,3575,3777,4050,4098,4074,3932,4205,2174,2304,
2387,2768,380,736,1117,736,380,950,1283,1675,1283,
926,1687,2209,1710,1330,1675,1128,1437,1900,1449,
1128,570,238,487,451,582,653,665,926,808,1033,273,
273,285,439,843,439,439,843,535,867,1033,855,1057,
297,439,214,713,523,606,463,226,333,344,582,428,606,
665,772,772,677,915,998,1021,760,950,1033,404,404,
202,630,962,962,748,1057,653,653}; //y坐标值
int dpaint_bi=
{ 2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0,0,0,0,1,2,1,
2,1,2,0,0,0,1,2,0,0,0,1,2,0,0,0,1,2,0,0,0,1,2,0,1,
2,1,2,0,0,0,1,2,0,0,1,2,0,0,1,2,0,1,2,1,2,0,0,0,0,
1,2,0,0,0,0,0,0,1,2,1,2,0,0,1,2,0,1,2,1,2,0,0,0,0,
1,2,1 };//控制抬笔和落笔
//2代表落笔，0代表示维持现状，1代表抬笔
//没得奖图片
int npaint_x=
{ 4103,4257,4801,4813,3914,3938,4801,5250,5049,5096,
5605,5593,5073,3961,3914,4056,3997,4115,4044,3027,
3204,3654,3985,3630,3382,3299,3488,3725,4008,3938,
4056,4221,4257,4446,4481,4635,4836,4765,5215,5664,
5877,5877,5427,5333,4505,4446,5380,5345,4623,4576,
4883,5120,5711,5238,5794,5309,6314,5865,6492,5640,
3571,2850,3441,497,627,473,603,544,485,662,828,828,
1088,1123,1242,1242,698,1206,650,1395,1395,2081,
2081,1395,1726,1726,2235,2353,2199,2400,2412,2412,
2684,2519,2613,2968,2779,2530,2578,2779,2188,3015,
2601,2471,2223,2590,2802,3003,3441,3441,3417,3417,
3512,3512,3429};//x坐标值
int npaint_y=
{ 1413,1271,1651,1924,1912,1615,1627,1508,1687,1912,
1924,1687,1699,1936,2364,1948,2364,1960,2387,4157,
3504,2922,3100,2910,2589,2138,1651,1366,1223,535,
404,463,1117,1128,594,392,499,1212,1318,1604,2079,
2601,2981,2114,2126,3433,3385,3243,3266,3409,3433,
4122, 226,701,986,1390,226,630,1045,1627,2839,3504,
3171,535,653,760,891,998,1318,808,713,594,594,784,
796,1342,903,903,1330,998,713,713,998,1010,523,1330,
582,701,903,831,535,998,535,784,630,630,891,962,
713,891,1069,1069,962,1235,1318,1069,1271,1318,582,
1057,1140,1247,1247,1140,1140}; //x坐标值
int npaint_bi=
{ 2,0,0,0,0,0,1,2,0,0,0,0,1,2,1,2,1,2,1,2,0,1,2,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,1, 2,0,0,1,2,0,0,1,2,0,1,2,1,2,1,2,1,2,0,
0,0,0,1,2,0,0,1,2,0,0,0,1,2,1,2,1,2,1,2,1,2,1,2,
0,0,1,2,1,2,1,2,0,1,2,0,1,2,1,2,0,0,0,1};
//控制抬笔和落笔
//2代表落笔，0代表示维持现状，1代表抬笔
//自定义函数
void xyMove(float dest_x,float dest_y);
//舵机部分
#include <Servo.h>
Servo dj;
int angle_ding=30;//舵机顶出时角度,抬笔
int angle_shou=180;//舵机收回时角度,落笔
//前一组信号接收用
int c,d;
void setup()
{
Serial.begin(9600);
//步进电机部分初始化
stepper1.debugMode(false);
stepper1.startup();
stepper2.debugMode(false);
stepper2.startup();
init_x=base_x;
init_y=base_y;
//舵机部分初始化
dj.attach(9);
dj.write(angle_ding);
//前一组信号接收端口，有三种状态
//悬空，10号HIGH，和10,11号口均为HIGH
pinMode(10,INPUT);
pinMode(11,INPUT);
}
void loop()
{
c=digitalRead(10);
d=digitalRead(11);
Serial.println(c);
Serial.println(d);
if(c==HIGH&&d==HIGH)//判断为得奖
{
Serial.println("de");
for(int i=0;i<128;i++)
{
//将int型数组的值变为float，这样做可以减少内存的使用量
float x=dpaint_x*1.0/100.0;
float y=dpaint_y*1.0/100.0;
//调用函数，并通过增加数值的改变图像零点的位置
xyMove(x+33,y+38);
if(dpaint_bi==1)//1代表抬笔
{
for(int degree=180;degree>=30;degree--)
{
dj.write(degree);
delay(5);
}
}
else if(dpaint_bi==2)//2代表落笔
{
for(int degree=30;degree<=180;degree++)
{
dj.write(degree);
delay(5);
}
}
delay(200);//延时，减少笔的抖动
}
xyMove(base_x,base_y);//回到定位点
}
else if(c==HIGH&&d==LOW)//判断为没得奖
{
Serial.println("no");
for(int i=0;i<115;i++)
{
//将int型数组的值变为float，这样做可以减少内存的使用量
float x=npaint_x*1.0/100.0;
float y=npaint_y*1.0/100.0;
//调用函数，并通过增加数值的改变图像零点的位置
xyMove(x+33,y+37);
//舵机角度改变
if(npaint_bi==1)//1代表抬笔
{
for(int degree=180;degree>=30;degree--)
{
dj.write(degree);
delay(5);
}
}
else if(npaint_bi==2)//2代表落笔
{
for(int degree=30;degree<=180;degree++)
{
dj.write(degree);
delay(5);
}
}
delay(200);//延时，减少笔的抖动
}
xyMove(base_x,base_y);//回到定位点
}
else//判断为没有信号输入
{
delay(20);//延时等待下一次
}
}
//函数作用为从现在的点移动到目标点(dest_x,dest_y)
void xyMove(float dest_x,float dest_y)
{
//a，b代表与步进a与步进b相连的同步带的长度
init_a=float(sqrt(pow(init_x,2)+pow(init_y,2)));
init_b=float(sqrt(pow(D-init_x,2)+pow(init_y,2)));
dest_a=float(sqrt(pow(dest_x,2)+pow(dest_y,2)));
dest_b=float(sqrt(pow(D-dest_x,2)+pow(dest_y,2)));
da=dest_a-init_a;
db=dest_b-init_b;
//通过计算目的长度-初始长度得到步进电机移动的步数
step_a=fabs(da*step_per_cm)+0.5;
step_b=fabs(db*step_per_cm)+0.5;
//通过步数的比例得到运动速度的比例
//使得两个步进可以同时开始同时停止
if(step_a>=step_b)
{
speed_a=spd;
speed_b=(step_b*1.0/step_a)*spd;
}
else
{
speed_b=spd;
speed_a=(step_a*1.0/step_b)*spd;
}
//步进电机运转方向设定
if(da<0)
{step_a=step_a*(-1);}
if(db<0)
{step_b=step_b*(-1);}
//步进电机转速.步数设定
stepper1.rotate(speed_a,-step_a);
stepper2.rotate(speed_b,step_b);
times=0;//需要初始化，以保证连续运动
while (times < 1)
{
//判断设定的步数是否走完
if (stepper1.isDone()==false)
{
stepper1.run();//走一步
}
//判断设定的步数是否走完
if (stepper2.isDone()==false)
{
stepper2.run();
}
//都走完了，跳出死循环
if(stepper1.isDone()&&stepper2.isDone())
{
times=1;
}
}
init_x=dest_x;
init_y=dest_y;
//移动到目的坐标后，将目的坐标存在起始点中，等待下一次移动
}
非常牛逼！
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