esp32+Micorpyhon控制步进电机旋转精确角度（八拍）

最新推荐文章于 2024-07-10 19:27:42 发布

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最新推荐文章于 2024-07-10 19:27:42 发布

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文章标签： python 嵌入式硬件

本文链接：https://blog.csdn.net/m0_73621501/article/details/135097595

版权

from machine import Pin
import time

class Motor:
    motor_steps = [[1,0,0,0],[1,1,0,0],[0,1,0,0],[0,1,1,0],[0,0,1,0],[0,0,1,1],[0,0,0,1],[1,0,0,1]]

    def __init__(self,motor_a,motor_b,motor_c,motor_d):      
        self.a = Pin(motor_a, Pin.OUT)
        self.b = Pin(motor_b, Pin.OUT)
        self.c = Pin(motor_c, Pin.OUT)
        self.d = Pin(motor_d, Pin.OUT)
        
        self.a.value(0)
        self.b.value(0)
        self.c.value(0)
        self.d.value(0)
        
    def motor_move(self,motor_flag):
        self.a.value(self.motor_steps[motor_flag][0])
        self.b.value(self.motor_steps[motor_flag][1])
        self.c.value(self.motor_steps[motor_flag][2])
        self.d.value(self.motor_steps[motor_flag][3])
        
    def motor_move_angle(self,target_angle,clockwise = True,speed = 2):
#        target_angle 		旋转角度
#        clockwise 			True为顺时针旋转 False为逆时针旋转
#        speed    			转转速度 速度越大越慢
         now_angle = 0
         motor_count = 0
         while now_angle < target_angle:
             self.motor_move(motor_count)
             if clockwise:
                 if motor_count > 0:
                     motor_count -= 1
                 else:
                     motor_count = 7
             else:
                 if motor_count < 7:
                     motor_count += 1
                 else:
                     motor_count = 0
             now_angle += 5.625/64
             time.sleep_ms(speed)

基于旋转角为5.625步进电机工作方式为八拍