124 lines
3.2 KiB
C++
124 lines
3.2 KiB
C++
// A4988引脚连接Arduino引脚编号
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#include <AccelStepper.h>
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const int dirPin = 46; // Direction
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const int stepPin = 47; // Step
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const int limit_forward = 28; // Ms3
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const int limit_back = 30; // Ms2
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const int Pin_GreenLight = 4;
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const int Pin_YellowLight = 6;
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const int Pin_RedLight = 8;
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const int Pin_Buzzer = 10;
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// 步进电机旋转一周步数
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const int STEPS_PER_REV = 1000;
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char cmd[10]; //用户指令字符
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int data; //用户指令数据
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int motorSpeed = 300; //电机转速(数值越小速度越小)
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AccelStepper stepper(4, stepPin, dirPin);
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unsigned long startTime;
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unsigned long endTime;
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unsigned long executionTime;
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String Get_Command;
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void setup() {
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// 设置引脚模式
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pinMode(stepPin, OUTPUT);
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pinMode(dirPin, OUTPUT);
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pinMode(limit_forward, INPUT);
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pinMode(limit_back, INPUT);
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pinMode(Pin_GreenLight, OUTPUT);
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pinMode(Pin_YellowLight, OUTPUT);
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pinMode(Pin_RedLight, OUTPUT);
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pinMode(Pin_Buzzer, OUTPUT);
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// 初始化电机步进模式为1/16步进
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//digitalWrite(ms1Pin, HIGH);
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//digitalWrite(ms2Pin, HIGH);
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//digitalWrite(ms3Pin, HIGH);
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Serial.begin(9600);
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// Serial.println("Please input motor command:");
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digitalWrite(dirPin, HIGH);
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digitalWrite(limit_forward, HIGH);
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digitalWrite(limit_back, HIGH);
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// stepper.setMaxSpeed(100000); // 设置最大速度（根据你的需要调整）
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// stepper.setSpeed(50); // 设置起始速度（根据你的需要调整）
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}
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void loop() {
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if (Serial.available()) {
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// 讀取傳入的字串直到"\n"結尾
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Get_Command = Serial.readStringUntil('\n');
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if (Get_Command == "Move") {
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move();
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Serial.println("OK"); // Respond to the computer
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}
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else if (Get_Command == "Green") {
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Serial.println("Green Light On");
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digitalWrite(Pin_GreenLight, HIGH);
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}
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else if (Get_Command == "Yellow") {
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Serial.println("Yellow Light On");
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digitalWrite(Pin_YellowLight, HIGH);
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}
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else if (Get_Command == "Red") {
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Serial.println("Red Light On");
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digitalWrite(Pin_RedLight, HIGH);
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}
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else if (Get_Command == "Buzzer") {
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Serial.println("Buzzer On");
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digitalWrite(Pin_Buzzer, HIGH);
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}
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else if (Get_Command == "Off") {
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Serial.println("All Off");
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digitalWrite(Pin_GreenLight, LOW);
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digitalWrite(Pin_YellowLight, LOW);
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digitalWrite(Pin_RedLight, LOW);
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digitalWrite(Pin_Buzzer, LOW);
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}
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else {
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Serial.println("你想做什麼?");
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}
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}
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}
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void move()
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{
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if (digitalRead(limit_back) == LOW)
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{
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digitalWrite(dirPin, LOW);
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while (true)
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{
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if (digitalRead(limit_forward) == LOW) {
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Serial.println("Motor emergency stop");
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break;
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}
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(motorSpeed);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(motorSpeed);
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}
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}
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else
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{
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digitalWrite(dirPin, HIGH);
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while (true)
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{
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if (digitalRead(limit_back) == LOW) {
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Serial.println("Motor emergency stop");
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break;
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}
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digitalWrite(stepPin, HIGH);
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delayMicroseconds(motorSpeed);
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digitalWrite(stepPin, LOW);
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delayMicroseconds(motorSpeed);
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}
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}
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}
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