c++ - Pontech & 步进电机

Question

有没有人有使用 Pontech Big-Easy Kard 和 quick420 板移动简单的 4 引线双极步进电机的经验？我只是想采用随附的 Arduino 示例来控制步进电机，并将它们移植过来，以便它们在 Pontech 环境中正常运行。我尝试转换的代码如下:

/* 
 Stepper Motor Control - one revolution

 This program drives a unipolar or bipolar stepper motor. 
 The motor is attached to digital pins 8 - 11 of the Arduino.

 The motor should revolve one revolution in one direction, then
 one revolution in the other direction.  


 Created 11 Mar. 2007
 Modified 30 Nov. 2009
 by Tom Igoe

 */

#include <Stepper.h>

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
                                     // for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8,9,10,11);            

void setup() {
  // set the speed at 60 rpm:
  myStepper.setSpeed(60);
  // initialize the serial port:
  Serial.begin(9600);
}

void loop() {
  // step one revolution  in one direction:
   Serial.println("clockwise");
  myStepper.step(stepsPerRevolution);
  delay(500);

   // step one revolution in the other direction:
  Serial.println("counterclockwise");
  myStepper.step(-stepsPerRevolution);
  delay(500); 
}

我遇到的问题是我不知道如何正确地将定义引脚 8、9、10 和 11 的部件转换为具有电机引线的部件。我知道它在 .cpp 文件中这样做。我在下面包含了 Stepper.h 和 Stepper.cpp

/*
  Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4

  Original library     (0.1) by Tom Igoe.
  Two-wire modifications   (0.2) by Sebastian Gassner
  Combination version   (0.3) by Tom Igoe and David Mellis
  Bug fix for four-wire   (0.4) by Tom Igoe, bug fix from Noah Shibley

  Drives a unipolar or bipolar stepper motor using  2 wires or 4 wires

  When wiring multiple stepper motors to a microcontroller,
  you quickly run out of output pins, with each motor requiring 4 connections. 

  By making use of the fact that at any time two of the four motor
  coils are the inverse  of the other two, the number of
  control connections can be reduced from 4 to 2. 

  A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
  connects to only 2 microcontroler pins, inverts the signals received,
  and delivers the 4 (2 plus 2 inverted ones) output signals required
  for driving a stepper motor.

  The sequence of control signals for 4 control wires is as follows:

  Step C0 C1 C2 C3
     1  1  0  1  0
     2  0  1  1  0
     3  0  1  0  1
     4  1  0  0  1

  The sequence of controls signals for 2 control wires is as follows
  (columns C1 and C2 from above):

  Step C0 C1
     1  0  1
     2  1  1
     3  1  0
     4  0  0

  The circuits can be found at 
  http://www.arduino.cc/en/Tutorial/Stepper
*/

// ensure this library description is only included once
#ifndef Stepper_h
#define Stepper_h

// library interface description
class Stepper {
  public:
    // constructors:
    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);

    // speed setter method:
    void setSpeed(long whatSpeed);

    // mover method:
    void step(int number_of_steps);

    int version(void);

  private:
    void stepMotor(int this_step);

    int direction;        // Direction of rotation
    int speed;          // Speed in RPMs
    unsigned long step_delay;    // delay between steps, in ms, based on speed
    int number_of_steps;      // total number of steps this motor can take
    int pin_count;        // whether you're driving the motor with 2 or 4 pins
    int step_number;        // which step the motor is on

    // motor pin numbers:
    int motor_pin_1;
    int motor_pin_2;
    int motor_pin_3;
    int motor_pin_4;

    long last_step_time;      // time stamp in ms of when the last step was taken
};

#endif

现在为 Stepper.cpp

/*
  Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4

  Original library     (0.1) by Tom Igoe.
  Two-wire modifications   (0.2) by Sebastian Gassner
  Combination version   (0.3) by Tom Igoe and David Mellis
  Bug fix for four-wire   (0.4) by Tom Igoe, bug fix from Noah Shibley  

  Drives a unipolar or bipolar stepper motor using  2 wires or 4 wires

  When wiring multiple stepper motors to a microcontroller,
  you quickly run out of output pins, with each motor requiring 4 connections. 

  By making use of the fact that at any time two of the four motor
  coils are the inverse  of the other two, the number of
  control connections can be reduced from 4 to 2. 

  A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
  connects to only 2 microcontroler pins, inverts the signals received,
  and delivers the 4 (2 plus 2 inverted ones) output signals required
  for driving a stepper motor.

  The sequence of control signals for 4 control wires is as follows:

  Step C0 C1 C2 C3
     1  1  0  1  0
     2  0  1  1  0
     3  0  1  0  1
     4  1  0  0  1

  The sequence of controls signals for 2 control wires is as follows
  (columns C1 and C2 from above):

  Step C0 C1
     1  0  1
     2  1  1
     3  1  0
     4  0  0

  The circuits can be found at 

http://www.arduino.cc/en/Tutorial/Stepper


 */


#include "WProgram.h"
#include "Stepper.h"

/*
 * two-wire constructor.
 * Sets which wires should control the motor.
 */
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
{
  this->step_number = 0;      // which step the motor is on
  this->speed = 0;        // the motor speed, in revolutions per minute
  this->direction = 0;      // motor direction
  this->last_step_time = 0;    // time stamp in ms of the last step taken
  this->number_of_steps = number_of_steps;    // total number of steps for this motor

  // Arduino pins for the motor control connection:
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;

  // setup the pins on the microcontroller:
  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);

  // When there are only 2 pins, set the other two to 0:
  this->motor_pin_3 = 0;
  this->motor_pin_4 = 0;

  // pin_count is used by the stepMotor() method:
  this->pin_count = 2;
}


/*
 *   constructor for four-pin version
 *   Sets which wires should control the motor.
 */

Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
{
  this->step_number = 0;      // which step the motor is on
  this->speed = 0;        // the motor speed, in revolutions per minute
  this->direction = 0;      // motor direction
  this->last_step_time = 0;    // time stamp in ms of the last step taken
  this->number_of_steps = number_of_steps;    // total number of steps for this motor

  // Arduino pins for the motor control connection:
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;
  this->motor_pin_3 = motor_pin_3;
  this->motor_pin_4 = motor_pin_4;

  // setup the pins on the microcontroller:
  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);
  pinMode(this->motor_pin_3, OUTPUT);
  pinMode(this->motor_pin_4, OUTPUT);

  // pin_count is used by the stepMotor() method:  
  this->pin_count = 4;
}

/*
  Sets the speed in revs per minute

*/
void Stepper::setSpeed(long whatSpeed)
{
  this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
}

/*
  Moves the motor steps_to_move steps.  If the number is negative, 
   the motor moves in the reverse direction.
 */
void Stepper::step(int steps_to_move)
{  
  int steps_left = abs(steps_to_move);  // how many steps to take

  // determine direction based on whether steps_to_mode is + or -:
  if (steps_to_move > 0) {this->direction = 1;}
  if (steps_to_move < 0) {this->direction = 0;}


  // decrement the number of steps, moving one step each time:
  while(steps_left > 0) {
  // move only if the appropriate delay has passed:
  if (millis() - this->last_step_time >= this->step_delay) {
      // get the timeStamp of when you stepped:
      this->last_step_time = millis();
      // increment or decrement the step number,
      // depending on direction:
      if (this->direction == 1) {
        this->step_number++;
        if (this->step_number == this->number_of_steps) {
          this->step_number = 0;
        }
      } 
      else { 
        if (this->step_number == 0) {
          this->step_number = this->number_of_steps;
        }
        this->step_number--;
      }
      // decrement the steps left:
      steps_left--;
      // step the motor to step number 0, 1, 2, or 3:
      stepMotor(this->step_number % 4);
    }
  }
}

/*
 * Moves the motor forward or backwards.
 */
void Stepper::stepMotor(int thisStep)
{
  if (this->pin_count == 2) {
    switch (thisStep) {
      case 0: /* 01 */
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      break;
      case 1: /* 11 */
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, HIGH);
      break;
      case 2: /* 10 */
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      break;
      case 3: /* 00 */
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, LOW);
      break;
    } 
  }
  if (this->pin_count == 4) {
    switch (thisStep) {
      case 0:    // 1010
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      digitalWrite(motor_pin_3, HIGH);
      digitalWrite(motor_pin_4, LOW);
      break;
      case 1:    // 0110
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      digitalWrite(motor_pin_3, HIGH);
      digitalWrite(motor_pin_4, LOW);
      break;
      case 2:    //0101
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      digitalWrite(motor_pin_3, LOW);
      digitalWrite(motor_pin_4, HIGH);
      break;
      case 3:    //1001
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      digitalWrite(motor_pin_3, LOW);
      digitalWrite(motor_pin_4, HIGH);
      break;
    } 
  }
}

/*
  version() returns the version of the library:
*/
int Stepper::version(void)
{
  return 4;
}

Answer 1

我假设你指的是 quick240 板，因为我找不到 quick420。如果我理解您的问题，您是在尝试将步进器功能引脚映射到由 MPIDE 使用的数组值标识的引脚吗？

引脚 8 实际上是端口 B，引脚 0 (PB0) 转换为 C1IO3(原理图上的引脚 RB0)引脚 9 是端口 B，引脚 1 转换为 C0IO3(引脚 RB1)引脚 10 是 PB2 转换为 C1IO1(引脚 RB2)Pin 11 is PB3 translates to C1IO0 (pin RB3)

C 标识卡槽，IO 号是卡槽的管脚。该阵列使用卡槽和引脚作为索引，因此应该可以帮助您完成大部分工作。

要自己完成此操作，请使用 Arduino 引脚分配获取引脚的端口号，然后使用 quick240 原理图将端口和引脚转换为卡槽和 IO 号。如果你愿意，你可以向另一个方向翻译。