一、57步进电机参数
二、树莓派利用python控制57步进电机
import RPi.GPIO as GPIO
import time
# w1,w2,w3,w4,w5,w6 = 0,1,0,0,0,0,0 细分400，电流3.5A，电压24V
IN1 = 20 # 接PUL-
IN2 = 21 # 接PUL+
IN3 = 12 # 接DIR-
IN4 = 16 # 接DIR+
def setStep(w1, w2, w3, w4):
GPIO.output(IN1, w1)
GPIO.output(IN2, w2)
GPIO.output(IN3, w3)
GPIO.output(IN4, w4)
def stop():
setStep(0, 0, 0, 0)
# 正转
# 控制电机旋转的快慢和圈数 delay越小转得越快，1600为一圈
def forward(delay, steps):
for i in range(0, steps):
setStep(1, 0, 1, 0)
time.sleep(delay)
setStep(0, 1, 1, 0)
time.sleep(delay)
setStep(0, 1, 0, 1)
time.sleep(delay)
setStep(1, 0, 0, 1)
time.sleep(delay)
# 控制电机一直旋转
def yizhi(delay):
while True:
setStep(1, 0, 1, 0)
time.sleep(delay)
setStep(0, 1, 1, 0)
time.sleep(delay)
setStep(0, 1, 0, 1)
time.sleep(delay)
setStep(1, 0, 0, 1)
time.sleep(delay)
# 反转
# 控制电机旋转的快慢和圈数 delay越小转得越快，1600为一圈
def backward(delay, steps):
for i in range(0, steps):
setStep(1, 0, 0, 1)
time.sleep(delay)
setStep(0, 1, 0, 1)
time.sleep(delay)
setStep(0, 1, 1, 0)
time.sleep(delay)
setStep(1, 0, 1, 0)
time.sleep(delay)
# 初始化树莓派引脚，设置树莓派的引脚为输出状态
def setup():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
# 带异常处理
# 控制电机正转一圈
def hhh():
setup()
try:
forward(0.0001,1600)
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child function destroy() will be executed.
destroy()
# 带异常处理
# 控制电机一直旋转
def zzz():
setup()
try:
yizhi(0.0001)
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child function destroy() will be executed.
destroy()
# 检测正转和反转
def loop():
while True:
i=int(input("1、正转\t2、反转\t3、退出\n请输入数字： "))
if i==1:
b = int(input("请输入脉冲个数（1600个脉冲为一圈）："))
forward(0.0001, b)
print("请等待3秒...")
time.sleep(3)
print("stop...")
stop()
elif i==2:
a=int(input("请输入脉冲个数（1600个脉冲为一圈）："))
backward(0.0001, a) # 发射脉冲时间间隔0.0001（单位秒） 脉冲个数a 如果编码器的设置是8细分 那么1600冲就转360度
print("请等待3秒...")
time.sleep(3)
print("stop...")
stop() # stop
else:
destroy()
return
# 清除树莓派引脚状态赋值
def destroy():
GPIO.cleanup() # 释放数据
if __name__ == '__main__': # Program start from here
setup()
try:
loop()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child function destroy() will be executed.
destroy()
发表于 2021-7-24 08:18
