树莓派python控制步进电机_如何通过树莓派的GPIO接口控制步进电机

/* motor_speed_up.c

* A program to control a stepper motor(speed up) through the GPIO on Raspberry Pi.

*

* Author: Darran Zhang (http://www.codelast.com)

*/

#include

#include

#include

#include

#define CLOCKWISE 1

#define COUNTER_CLOCKWISE 2

void delayMS(int x);

void rotate(int* pins, int direction, int delay);

void stop(int* pins);

int main(int argc,char* argv[]) {

if (argc < 4) {

printf("Usage example: ./motor 0 1 2 3 \n");

return 1;

}

/* number of the pins which connected to the stepper motor driver board */

int pinA = atoi(argv[1]);

int pinB = atoi(argv[2]);

int pinC = atoi(argv[3]);

int pinD = atoi(argv[4]);

int pins[4] = {pinA, pinB, pinC, pinD};

if (-1 == wiringPiSetup()) {

printf("Setup wiringPi failed!");

return 1;

}

/* set mode to output */

pinMode(pinA, OUTPUT);

pinMode(pinB, OUTPUT);

pinMode(pinC, OUTPUT);

pinMode(pinD, OUTPUT);

delayMS(50);    // wait for a stable status

int delay = 25;

while (true) {

for (int i = 0; i < 10; i++) {

rotate(pins, CLOCKWISE, delay);

}

delay--;

if (delay < 4) {

delay = 25;

stop(pins);

delayMS(500);

}

}

return 0;

}

/* Suspend execution for x milliseconds intervals.

*  @param ms Milliseconds to sleep.

*/

void delayMS(int x) {

usleep(x * 1000);

}

/* Rotate the motor.

*  @param pins     A pointer which points to the pins number array.

*  @param direction  CLOCKWISE for clockwise rotation, COUNTER_CLOCKWISE for counter clockwise rotation.

*  @param delay    The time intervals(in ms) to delay, and if the value is smaller, the motor rotates faster.

*/

void rotate(int* pins, int direction, int delay) {

for (int i = 0; i < 4; i++) {

if (CLOCKWISE == direction) {

for (int j = 0; j < 4; j++) {

if (j == i) {

digitalWrite(pins[3 - j], 1); // output a high level

} else {

digitalWrite(pins[3 - j], 0); // output a low level

}

}

} else if (COUNTER_CLOCKWISE == direction) {

for (int j = 0; j < 4; j++) {

if (j == i) {

digitalWrite(pins[j], 1); // output a high level

} else {

digitalWrite(pins[j], 0); // output a low level

}

}

}

delayMS(delay);

}

}

/* Stop the motor.

*  @param pins     A pointer which points to the pins number array.

*/

void stop(int* pins) {

for (int i = 0; i < 4; i++) {

digitalWrite(pins[i], 0); // output a low level

}

}