中断控制电机反向转动

 1:  

 2: /*

 3: Stepper Motor Control - one revolution

 4:  

 5: This program drives a unipolar or bipolar stepper motor.

 6: The motor is attached to digital pins 8 - 11 of the Arduino.

 7:  

 8: The motor should revolve one revolution in one direction, then

 9: one revolution in the other direction.

 10:  

 11:  

 12: Created 11 Mar. 2007

 13: Modified 30 Nov. 2009

 14: by Tom Igoe

 15:  

 16: */

 17:  

 18: #include <Stepper.h>

 19:  

 20: int stepsPerRevolution = 200;

 21: int pbIn = 5;

 22:  

 23:  

 24: Stepper myStepper(stepsPerRevolution, 9,7,8,6);

 25:  

 26: void setup() {

 27: attachInterrupt(pbIn,stateChange,RISING);

 28: // set the speed at 60 rpm:

 29: myStepper.setSpeed(60);

 30: // initialize the serial port:

 31: Serial.begin(9600);

 32: }

 33:  

 34: void loop() {

 35: // step one revolution in one direction:

 36: Serial.println("clockwise");

 37: myStepper.step(stepsPerRevolution);

 38: delay(500);

 39: }

 40:  

 41: void stateChange()

 42: {

 43: stepsPerRevolution = -stepsPerRevolution;

 44: }

不知道为什么，当行程开关按下的时间不一样时，会出现这样一种怪现象：电机先反向转了一圈，然后又恢复了原来的方向，有点诡异。而且电机对开关的响应还是迟钝，大概这个也是Arduino的缺点，不过肯定有优化的方法，也可能是我对电机的库函数的理解不对！

转载于:https://www.cnblogs.com/zjjsxuqiang/p/3476605.html