Stap 4: Code
De code om te worden geüpload is een schets van de test maakt het alleen maar de motor uitvoeren in één richting en dan na enige vertraging keert de richting.
Dit is slechts een schets van de test en moet u een specifieke taak, laat een reactie hieronder en ik zal graag schrijven van de code voor je.
#include #define MotorSpeedSet 0x82#define PWMFrequenceSet 0x84 #define DirectionSet 0xaa #define MotorSetA 0xa1 #define MotorSetB 0xa5 #define Nothing 0x01 #define EnableStepper 0x1a #define UnenableStepper 0x1b #define Stepernu 0x1c #define I2CMotorDriverAdd 0x0f // Set the address of the I2CMotorDriver // set the steps you want, if 255, the stepper will rotate continuely; void SteperStepset(unsigned char stepnu) { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(Stepernu); // Send the stepernu command Wire.write(stepnu); // send the steps Wire.write(Nothing); // send nothing Wire.endTransmission(); // stop transmitting } /////////////////////////////////////////////////////////////////////////////// // Enanble the i2c motor driver to drive a 4-wire stepper. the i2c motor driver will //driver a 4-wire with 8 polarity . //Direction: stepper direction ; 1/0 //motor speed: defines the time interval the i2C motor driver change it output to drive the stepper //the actul interval time is : motorspeed * 4ms. that is , when motor speed is 10, the interval time //would be 40 ms ////////////////////////////////////////////////////////////////////////////////// void StepperMotorEnable(unsigned char Direction, unsigned char motorspeed) { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(EnableStepper); // set pwm header Wire.write(Direction); // send pwma Wire.write(motorspeed); // send pwmb Wire.endTransmission(); // stop transmitting } //function to uneanble i2C motor drive to drive the stepper. void StepperMotorUnenable() { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(UnenableStepper); // set unenable commmand Wire.write(Nothing); Wire.write(Nothing); Wire.endTransmission(); // stop transmitting } ////////////////////////////////////////////////////////////////////// //Function to set the 2 DC motor speed //motorSpeedA : the DC motor A speed; should be 0~100; //motorSpeedB: the DC motor B speed; should be 0~100;void MotorSpeedSetAB(unsigned char MotorSpeedA , unsigned char MotorSpeedB) { MotorSpeedA=map(MotorSpeedA,0,100,0,255); MotorSpeedB=map(MotorSpeedB,0,100,0,255); Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(MotorSpeedSet); // set pwm header Wire.write(MotorSpeedA); // send pwma Wire.write(MotorSpeedB); // send pwmb Wire.endTransmission(); // stop transmitting } //set the prescale frequency of PWM, 0x03 default; void MotorPWMFrequenceSet(unsigned char Frequence) { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(PWMFrequenceSet); // set frequence header Wire.write(Frequence); // send frequence Wire.write(Nothing); // need to send this byte as the third byte(no meaning) Wire.endTransmission(); // stop transmitting } //set the direction of DC motor. void MotorDirectionSet(unsigned char Direction) { // Adjust the direction of the motors 0b0000 I4 I3 I2 I1 Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(DirectionSet); // Direction control header Wire.write(Direction); // send direction control information Wire.write(Nothing); // need to send this byte as the third byte(no meaning) Wire.endTransmission(); // stop transmitting }void MotorDriectionAndSpeedSet(unsigned char Direction,unsigned char MotorSpeedA,unsigned char MotorSpeedB) { //you can adjust the driection and speed together MotorDirectionSet(Direction); MotorSpeedSetAB(MotorSpeedA,MotorSpeedB); } void stepperrun() { Serial.println("sent command to + direction, very fast"); SteperStepset(255); StepperMotorEnable(1, 1);// ennable the i2c motor driver a stepper. delay(5000); Serial.println("sent command to - direction, slow"); SteperStepset(255); StepperMotorEnable(0, 20); delay(5000); Serial.println("sent command to - direction, fast"); StepperMotorEnable(0, 2);// ennable the i2c motor driver a stepper. delay(5000); Serial.println("sent command to + direction,100 steps, fast"); SteperStepset(100); StepperMotorEnable(1,5); delay(3000); Serial.println("sent command to shut down the stepper"); StepperMotorUnenable(); delay(1000); Serial.println("sent command to - direction, slow, and 10 steps then stop"); SteperStepset(10); StepperMotorEnable(0,40); delay(5000); Serial.println("sent command to shut down the stepper"); StepperMotorUnenable(); delay(5000); } void setup() { Wire.begin(); // join i2c bus (address optional for master) delayMicroseconds(10000); Serial.begin(9600); Serial.println("setup begin"); stepperrun(); }void loop() { while(1) { MotorSpeedSetAB(100,100); delay(10); //this delay needed MotorDirectionSet(0b0110); //0b1010 Rotating in the positive direction delay(10000); MotorDirectionSet(0b1001); //0b0101 Rotating in the opposite direction delay(500); } }
