四线八拍步进电机（28BYJ48）代码

long step_delay=0;
long last_step_time=0;
int step_number=0;

int Pin0=8,Pin1=9,Pin2=10,Pin3=11;
int number_of_steps=64;	//鍑忛€熸瘮鏄?:64

void my_stepMotor(int thisStep)
{
  switch (thisStep) {
  case 0:
    digitalWrite(Pin0, LOW);
    digitalWrite(Pin1, LOW);
    digitalWrite(Pin2, LOW);
    digitalWrite(Pin3, HIGH);
    break;
  case 1:
    digitalWrite(Pin0, LOW);
    digitalWrite(Pin1, LOW);
    digitalWrite(Pin2, HIGH);
    digitalWrite(Pin3, HIGH);
    break;
  case 2:
    digitalWrite(Pin0, LOW);
    digitalWrite(Pin1, LOW);
    digitalWrite(Pin2, HIGH);
    digitalWrite(Pin3, LOW);
    break;
  case 3:
    digitalWrite(Pin0, LOW);
    digitalWrite(Pin1, HIGH);
    digitalWrite(Pin2, HIGH);
    digitalWrite(Pin3, LOW);
    break;
  case 4:
    digitalWrite(Pin0, LOW);
    digitalWrite(Pin1, HIGH);
    digitalWrite(Pin2, LOW);
    digitalWrite(Pin3, LOW);
    break;
  case 5:
    digitalWrite(Pin0, HIGH);
    digitalWrite(Pin1, HIGH);
    digitalWrite(Pin2, LOW);
    digitalWrite(Pin3, LOW);
    break;
  case 6:
    digitalWrite(Pin0, HIGH);
    digitalWrite(Pin1, LOW);
    digitalWrite(Pin2, LOW);
    digitalWrite(Pin3, LOW);
    break;
  case 7:
    digitalWrite(Pin0, HIGH);
    digitalWrite(Pin1, LOW);
    digitalWrite(Pin2, LOW);
    digitalWrite(Pin3, HIGH);
    break;
  default:
    digitalWrite(Pin0, LOW);
    digitalWrite(Pin1, LOW);
    digitalWrite(Pin2, LOW);
    digitalWrite(Pin3, LOW);
    break;
  } 
}

void my_setSpeed(long whatSpeed)
{ 
  step_delay=60L * 1000L /number_of_steps / whatSpeed;
}

void my_step(int steps_to_move,int direction)
{  
  int steps_left = abs(steps_to_move);  // how many steps to take

  // decrement the number of steps, moving one step each time:
  while(steps_left > 0) {
    // move only if the appropriate delay has passed:
    if (millis() - last_step_time >= step_delay) {
      // get the timeStamp of when you stepped:
      last_step_time = millis();
      // increment or decrement the step number,
      // depending on direction:
      if (direction == 1) {
        step_number++;
        if (step_number == number_of_steps) {
          step_number = 0;
        }
      } 
      else if(direction==-1){
        if (step_number == 0) {
          step_number = number_of_steps;
        }
        step_number--;
      	Serial.println(step_number);
      }
      // decrement the steps left:
      steps_left--;
      // step the motor to step number 0, 1, 2, or 3:
      my_stepMotor(step_number % 8);
    }
  }
}

/*********涓荤▼搴?********/

void setup()
{
  // set the speed of the motor to 30 RPMs
  Serial.begin(9600);
  my_setSpeed(500);
  pinMode(Pin0,OUTPUT);
  pinMode(Pin1,OUTPUT);
  pinMode(Pin2,OUTPUT);
  pinMode(Pin3,OUTPUT);
}

void loop()
{
  //姝ｅ弽杞紝1灏辨槸姝ｈ浆锛?灏辨槸鍙嶈浆
  my_step(64*64/2,-1);
  delay(2000);
}