树莓派pwm java 步进电机_利用树莓派控制步进电机——C语言

/******************************************************

* File name: stepMotor.c

* Author: Jason Dai

* Date: 2015/01/26

******************************************************/

#include

#include

#define IN1 0 // wiringPi GPIO0(pin11)

#define IN2 1

#define IN3 2

#define IN4 3

void setStep(int a, int b, int c, int d)

{

digitalWrite(IN1, a);

digitalWrite(IN2, b);

digitalWrite(IN3, c);

digitalWrite(IN4, d);

}

void stop()

{

setStep(0, 0, 0, 0);

}

void forward(int t, int steps)

{

int i;

for(i = 0; i < steps; i++){

setStep(1, 0, 0, 0);

delay(t);

setStep(0, 1, 0, 0);

delay(t);

setStep(0, 0, 1, 0);

delay(t);

setStep(0, 0, 0, 1);

delay(t);

}

}

void backward(int t, int steps)

{

int i;

for(i = 0; i < steps; i++){

setStep(0, 0, 0, 1);

delay(t);

setStep(0, 0, 1, 0);

delay(t);

setStep(0, 1, 0, 0);

delay(t);

setStep(1, 0, 0, 0);

delay(t);

}

}

int main(void) {

if (-1 == wiringPiSetup()) {

printf("Setup wiringPi failed!");

return 1;

}

/* set mode to output */

pinMode(IN1, OUTPUT);

pinMode(IN2, OUTPUT);

pinMode(IN3, OUTPUT);

pinMode(IN4, OUTPUT);

while (1){

printf("forward...\n");

forward(3, 256);

printf("stop...\n");

stop();

delay(2000); // 2s

printf("backward...\n");

backward(3, 512); // 512 steps ---- 360 angle

printf("stop...\n");

stop();

delay(2000); // 2s

}

return 0;

}

编译：

gcc stepMotor.c -o stepMotor -lwiringPi

运行：

./stepMotor