151 lines
4.1 KiB
C++
151 lines
4.1 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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// 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 = 500; //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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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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// 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("++++++++++++++++++++++++++++++++++");
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Serial.println("+ Taichi-Maker A4988 Steper Demo +");
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Serial.println("+ www.taichi-maker.com +");
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Serial.println("++++++++++++++++++++++++++++++++++");
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Serial.println("");
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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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//{
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// startTime = millis(); // 记录开始时间
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// for (int j = 0; j < 100; j++)
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// {
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// for (int i = 0; i < 200; i++)
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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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// endTime = millis();
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// executionTime = endTime - startTime;
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//
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// Serial.print("Execution time: ");
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// Serial.print(executionTime);
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// Serial.println(" ms");
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//}
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//void loop()
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//{
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// if (Serial.available())
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// {
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// Serial.readBytes(cmd, 10);
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// Serial.println(atoi(cmd));
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// motorSpeed = atoi(cmd);
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//
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// startTime = millis(); // 记录开始时间
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// for (int j = 0; j < 100; j++)
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// {
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// for (int i = 0; i < 200; i++)
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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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// endTime = millis();
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// executionTime = endTime - startTime;
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//
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// Serial.print("Execution time: ");
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// Serial.print(executionTime);
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// Serial.println(" ms");
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// }
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//}
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//void loop() {
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// if (Serial.available() > 0) {
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// char str[20];
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// int STEPS;
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// Serial.readBytes(str, 20);
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// char *token = strtok(str, "\n"); // 使用 "\n" 作為分隔符
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// if (token != NULL) {
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// STEPS = atoi(token); // 將分割後的字串轉換為整數
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// Serial.println(STEPS);
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// } else {
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// Serial.println("未找到換行符");
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// }
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// if (digitalRead(limit_forward) != HIGH || digitalRead(limit_back) != HIGH)
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// {
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// stepper.runToNewPosition(STEPS);
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// Serial.println("Motor end");
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// }
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// }
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//}
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void loop() {
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if (Serial.available() > 0) {
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// 讀取進來的 byte
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char inByte = Serial.read();
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switch (inByte) {
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case '1':
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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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Serial.println("Motor end");
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break;
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case '2':
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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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Serial.println("Motor end");
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break;
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default:
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break;
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}
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}
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}
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