ESP32（MicroPython） 步进电机调速与位置输出
本人近期对步进电机相关程序进行了一些调整，尝试过在控制角度的程序中改用定时器控制步进电机，但在输入特定步数时不能正常运行，因此保留了之前用的使用延时控制步进电机的方式。这次主要改动是把步数在数码管上显示并通过串口输出。视频中只展示了步进电机调速程序。
步进电机串口控制与位置输出(步数模式）
'''
接线说明：电机模块-->ESP32 IO
(IN1-IN4)-->(15,2,0,4)
电机模块输出-->28BYJ-48步进电机
(5V)-->红线
(O1)-->依次排序
'''
#导入Pin模块
from machine import Pin
import time
import tm1637
#定义数码管控制对象
smg=tm1637.TM1637(clk=Pin(16),dio=Pin(17))
#定义步进电机控制对象
motor_a=Pin(15,Pin.OUT,Pin.PULL_DOWN)
motor_b=Pin(2,Pin.OUT,Pin.PULL_DOWN)
motor_c=Pin(0,Pin.OUT,Pin.PULL_DOWN)
motor_d=Pin(4,Pin.OUT,Pin.PULL_DOWN)
#步进电机发送脉冲函数
def step_motor_send_pulse(step,fx):
temp=step
if fx==0:
temp=7-step
if temp==0:
motor_a.value(1)
motor_b.value(0)
motor_c.value(0)
motor_d.value(0)
elif temp==1:
motor_a.value(1)
motor_b.value(1)
motor_c.value(0)
motor_d.value(0)
elif temp==2:
motor_a.value(0)
motor_b.value(1)
motor_c.value(0)
motor_d.value(0)
elif temp==3:
motor_a.value(0)
motor_b.value(1)
motor_c.value(1)
motor_d.value(0)
elif temp==4:
motor_a.value(0)
motor_b.value(0)
motor_c.value(1)
motor_d.value(0)
elif temp==5:
motor_a.value(0)
motor_b.value(0)
motor_c.value(1)
motor_d.value(1)
elif temp==6:
motor_a.value(0)
motor_b.value(0)
motor_c.value(0)
motor_d.value(1)
elif temp==7:
motor_a.value(1)
motor_b.value(0)
motor_c.value(0)
motor_d.value(1)
count=0
while True:
print("位置",count)
smg.show("%04d"%count)
fx1=0
step1=0
s=0
i=int(input("输入步数（步数为正时顺时针转，反之逆时针转）"))
count=count+i
if count<0 :
count+=4096
if count>4095 :
count-=4096
if i<0 :
fx1=1
i=-i
while True:
step_motor_send_pulse(step1,fx1)
step1+=1
s+=1
if s==i :
break
if step1==8:
step1=0
time.sleep_ms(1)
步进电机串口控制与位置输出(角度模式）
'''
接线说明：电机模块-->ESP32 IO
(IN1-IN4)-->(15,2,0,4)
电机模块输出-->28BYJ-48步进电机
(5V)-->红线
(O1)-->依次排序
'''
#导入Pin模块
from machine import Pin
import time
import tm1637
#定义数码管控制对象
smg=tm1637.TM1637(clk=Pin(16),dio=Pin(17))
#定义步进电机控制对象
motor_a=Pin(15,Pin.OUT,Pin.PULL_DOWN)
motor_b=Pin(2,Pin.OUT,Pin.PULL_DOWN)
motor_c=Pin(0,Pin.OUT,Pin.PULL_DOWN)
motor_d=Pin(4,Pin.OUT,Pin.PULL_DOWN)
#步进电机发送脉冲函数
def step_motor_send_pulse(step,fx):
temp=step
if fx==0:
temp=7-step
if temp==0:
motor_a.value(1)
motor_b.value(0)
motor_c.value(0)
motor_d.value(0)
elif temp==1:
motor_a.value(1)
motor_b.value(1)
motor_c.value(0)
motor_d.value(0)
elif temp==2:
motor_a.value(0)
motor_b.value(1)
motor_c.value(0)
motor_d.value(0)
elif temp==3:
motor_a.value(0)
motor_b.value(1)
motor_c.value(1)
motor_d.value(0)
elif temp==4:
motor_a.value(0)
motor_b.value(0)
motor_c.value(1)
motor_d.value(0)
elif temp==5:
motor_a.value(0)
motor_b.value(0)
motor_c.value(1)
motor_d.value(1)
elif temp==6:
motor_a.value(0)
motor_b.value(0)
motor_c.value(0)
motor_d.value(1)
elif temp==7:
motor_a.value(1)
motor_b.value(0)
motor_c.value(0)
motor_d.value(1)
count=0
while True:
print("位置",count)
smg.show("%04d"%count)
fx1=0
step1=0
s=0
i=int(input("输入角度（步数为正时顺时针转，反之逆时针转）"))
count=count+i
if count<0 :
count+=360
if count>359 :
count-=360
if i<0 :
fx1=1
i=-i
i=i/365*4096
while True:
step_motor_send_pulse(step1,fx1)
step1+=1
s+=1
if s>=i :
break
if step1==8:
step1=0
time.sleep_ms(1)
步进电机调速与位置输出
（注意：高速模式可能丢步，需要精确读数时不建议使用）
'''
接线说明：电机模块-->ESP32 IO
(IN1-IN4)-->(15,2,0,4)
电机模块输出-->28BYJ-48步进电机
(5V)-->红线
(O1)-->依次排序
按键模块-->ESP32 IO
(K1-K4)-->(26,25,33,32)
按键功能：KEY1切换正反转，KEY2加速，KEY3减速，KEY4切换高、低速模式
'''
#导入Pin模块
from machine import Pin
import time
from machine import Timer
import tm1637
#定义数码管控制对象
smg=tm1637.TM1637(clk=Pin(16),dio=Pin(17))
#定义按键控制对象
key1=Pin(26,Pin.IN,Pin.PULL_UP)
key2=Pin(25,Pin.IN,Pin.PULL_UP)
key3=Pin(33,Pin.IN,Pin.PULL_UP)
key4=Pin(32,Pin.IN,Pin.PULL_UP)
#定义步进电机控制对象
motor_a=Pin(15,Pin.OUT,Pin.PULL_DOWN)
motor_b=Pin(2,Pin.OUT,Pin.PULL_DOWN)
motor_c=Pin(0,Pin.OUT,Pin.PULL_DOWN)
motor_d=Pin(4,Pin.OUT,Pin.PULL_DOWN)
#定义按键键值
KEY1_PRESS,KEY2_PRESS,KEY3_PRESS,KEY4_PRESS=1,2,3,4
key_en=1
#按键扫描函数
def key_scan():
global key_en
if key_en==1 and (key1.value()==0 or key2.value()==0 or
key3.value()==0 or key4.value()==0 ):
time.sleep_ms(10)
key_en=0
if key1.value()==0:
return KEY1_PRESS
elif key2.value()==0:
return KEY2_PRESS
elif key3.value()==0:
return KEY3_PRESS
elif key4.value()==0:
return KEY4_PRESS
elif key1.value()==1 and key2.value()==1 and key3.value()==1 and key4.value()==1:
key_en=1
return 0
#步进电机发送脉冲函数
def step_motor_send_pulse(step,fx):
temp=step
if fx==0:
temp=7-step
if temp==0:
motor_a.value(1)
motor_b.value(0)
motor_c.value(0)
motor_d.value(0)
elif temp==1:
motor_a.value(1)
motor_b.value(1)
motor_c.value(0)
motor_d.value(0)
elif temp==2:
motor_a.value(0)
motor_b.value(1)
motor_c.value(0)
motor_d.value(0)
elif temp==3:
motor_a.value(0)
motor_b.value(1)
motor_c.value(1)
motor_d.value(0)
elif temp==4:
motor_a.value(0)
motor_b.value(0)
motor_c.value(1)
motor_d.value(0)
elif temp==5:
motor_a.value(0)
motor_b.value(0)
motor_c.value(1)
motor_d.value(1)
elif temp==6:
motor_a.value(0)
motor_b.value(0)
motor_c.value(0)
motor_d.value(1)
elif temp==7:
motor_a.value(1)
motor_b.value(0)
motor_c.value(0)
motor_d.value(1)
def time0_irq(time0):
global count
if count>4095 :
count-=4096
if count<0 :
count+=4096
print("位置",count)
smg.show("%04d"%count)
#程序入口
if __name__=="__main__":
count=0
key=0
fx1=1
speed1=1
step1=0
time0=Timer(0) #创建time0定时器对象
time0.init(period=100,mode=Timer.PERIODIC,callback=time0_irq)
while True:
if speed1<4:
key=key_scan()
if key==KEY1_PRESS:
fx1=not fx1
elif key==KEY2_PRESS:
if speed1>1:
speed1-=1
elif key==KEY3_PRESS:
speed1+=1
elif key==KEY4_PRESS:
speed1=900
step_motor_send_pulse(step1,fx1)
step1+=1
if fx1==1 :
count+=1
if fx1==0 :
count-=1
if step1==8:
step1=0
time.sleep_ms(speed1)
elif 3<speed1<10:
key=key_scan()
if key==KEY1_PRESS:
fx1=not fx1
elif key==KEY2_PRESS:
speed1-=2
elif key==KEY3_PRESS:
speed1+=2
elif key==KEY4_PRESS:
speed1=900
step_motor_send_pulse(step1,fx1)
step1+=1
if fx1==1 :
count+=1
if fx1==0 :
count-=1
if step1==8:
step1=0
time.sleep_ms(speed1)
elif 9<speed1<22:
key=key_scan()
if key==KEY1_PRESS:
fx1=not fx1
elif key==KEY2_PRESS:
speed1-=4
elif key==KEY3_PRESS:
speed1+=4
elif key==KEY4_PRESS:
speed1=900
step_motor_send_pulse(step1,fx1)
step1+=1
if fx1==1 :
count+=1
if fx1==0 :
count-=1
if step1==8:
step1=0
time.sleep_ms(speed1)
elif 21<speed1<47:
key=key_scan()
if key==KEY1_PRESS:
fx1=not fx1
elif key==KEY2_PRESS:
speed1-=8
elif key==KEY3_PRESS:
if speed1<46:
speed1+=8
elif key==KEY4_PRESS:
speed1=900
step_motor_send_pulse(step1,fx1)
step1+=1
if fx1==1 :
count+=1
if fx1==0 :
count-=1
if step1==8:
step1=0
time.sleep_ms(speed1)
elif speed1>599:
key=key_scan()
if key==KEY1_PRESS:
fx1=not fx1
elif key==KEY2_PRESS:
if speed1>600:
speed1-=100
elif key==KEY3_PRESS:
if speed1<900:
speed1+=100
elif key==KEY4_PRESS:
speed1=1
step_motor_send_pulse(step1,fx1)
step1+=1
if fx1==1 :
count+=1
if fx1==0 :
count-=1
if step1==8:
step1=0
time.sleep_us(speed1)
相关外设驱动
tm1637
"""
MicroPython TM1637 quad 7-segment LED display driver
https://github.com/mcauser/micropython-tm1637
MIT License
Copyright (c) 2016 Mike Causer
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
"""
from micropython import const
from machine import Pin
from time import sleep_us, sleep_ms
TM1637_CMD1 = const(64) # 0x40 data command
TM1637_CMD2 = const(192) # 0xC0 address command
TM1637_CMD3 = const(128) # 0x80 display control command
TM1637_DSP_ON = const(8) # 0x08 display on
TM1637_DELAY = const(10) # 10us delay between clk/dio pulses
TM1637_MSB = const(128) # msb is the decimal point or the colon depending on your display
# 0-9, a-z, blank, dash, star
_SEGMENTS = bytearray(b'\x3F\x06\x5B\x4F\x66\x6D\x7D\x07\x7F\x6F\x77\x7C\x39\x5E\x79\x71\x3D\x76\x06\x1E\x76\x38\x55\x54\x3F\x73\x67\x50\x6D\x78\x3E\x1C\x2A\x76\x6E\x5B\x00\x40\x63')
class TM1637(object):
"""Library for quad 7-segment LED modules based on the TM1637 LED driver."""
def __init__(self, clk, dio, brightness=7):
self.clk = clk
self.dio = dio
if not 0 <= brightness <= 7:
raise ValueError("Brightness out of range")
self._brightness = brightness
self.clk.init(Pin.OUT, value=0)
self.dio.init(Pin.OUT, value=0)
sleep_us(TM1637_DELAY)
self._write_data_cmd()
self._write_dsp_ctrl()
def _start(self):
self.dio(0)
sleep_us(TM1637_DELAY)
self.clk(0)
sleep_us(TM1637_DELAY)
def _stop(self):
self.dio(0)
sleep_us(TM1637_DELAY)
self.clk(1)
sleep_us(TM1637_DELAY)
self.dio(1)
def _write_data_cmd(self):
# automatic address increment, normal mode
self._start()
self._write_byte(TM1637_CMD1)
self._stop()
def _write_dsp_ctrl(self):
# display on, set brightness
self._start()
self._write_byte(TM1637_CMD3 | TM1637_DSP_ON | self._brightness)
self._stop()
def _write_byte(self, b):
for i in range(8):
self.dio((b >> i) & 1)
sleep_us(TM1637_DELAY)
self.clk(1)
sleep_us(TM1637_DELAY)
self.clk(0)
sleep_us(TM1637_DELAY)
self.clk(0)
sleep_us(TM1637_DELAY)
self.clk(1)
sleep_us(TM1637_DELAY)
self.clk(0)
sleep_us(TM1637_DELAY)
def brightness(self, val=None):
"""Set the display brightness 0-7."""
# brightness 0 = 1/16th pulse width
# brightness 7 = 14/16th pulse width
if val is None:
return self._brightness
if not 0 <= val <= 7:
raise ValueError("Brightness out of range")
self._brightness = val
self._write_data_cmd()
self._write_dsp_ctrl()
def write(self, segments, pos=0):
"""Display up to 6 segments moving right from a given position.
The MSB in the 2nd segment controls the colon between the 2nd
and 3rd segments."""
if not 0 <= pos <= 5:
raise ValueError("Position out of range")
self._write_data_cmd()
self._start()
self._write_byte(TM1637_CMD2 | pos)
for seg in segments:
self._write_byte(seg)
self._stop()
self._write_dsp_ctrl()
def encode_digit(self, digit):
"""Convert a character 0-9, a-f to a segment."""
return _SEGMENTS[digit & 0x0f]
def encode_string(self, string):
"""Convert an up to 4 character length string containing 0-9, a-z,
space, dash, star to an array of segments, matching the length of the
source string."""
segments = bytearray(len(string))
for i in range(len(string)):
segments[i] = self.encode_char(string[i])
return segments
def encode_char(self, char):
"""Convert a character 0-9, a-z, space, dash or star to a segment."""
o = ord(char)
if o == 32:
return _SEGMENTS[36] # space
if o == 42:
return _SEGMENTS[38] # star/degrees
if o == 45:
return _SEGMENTS[37] # dash
if o >= 65 and o <= 90:
return _SEGMENTS[o-55] # uppercase A-Z
if o >= 97 and o <= 122:
return _SEGMENTS[o-87] # lowercase a-z
if o >= 48 and o <= 57:
return _SEGMENTS[o-48] # 0-9
raise ValueError("Character out of range: {:d} '{:s}'".format(o, chr(o)))
def hex(self, val):
"""Display a hex value 0x0000 through 0xffff, right aligned."""
string = '{:04x}'.format(val & 0xffff)
self.write(self.encode_string(string))
def number(self, num):
"""Display a numeric value -999 through 9999, right aligned."""
# limit to range -999 to 9999
num = max(-999, min(num, 9999))
string = '{0: >4d}'.format(num)
self.write(self.encode_string(string))
def numbers(self, num1, num2, colon=True):
"""Display two numeric values -9 through 99, with leading zeros
and separated by a colon."""
num1 = max(-9, min(num1, 99))
num2 = max(-9, min(num2, 99))
segments = self.encode_string('{0:0>2d}{1:0>2d}'.format(num1, num2))
if colon:
segments[1] |= 0x80 # colon on
self.write(segments)
def temperature(self, num):
if num < -9:
self.show('lo') # low
elif num > 99:
self.show('hi') # high
else:
string = '{0: >2d}'.format(num)
self.write(self.encode_string(string))
self.write([_SEGMENTS[38], _SEGMENTS[12]], 2) # degrees C
def show(self, string, colon=False):
segments = self.encode_string(string)
if len(segments) > 1 and colon:
segments[1] |= 128
self.write(segments[:4])
def scroll(self, string, delay=250):
segments = string if isinstance(string, list) else self.encode_string(string)
data = [0] * 8
data[4:0] = list(segments)
for i in range(len(segments) + 5):
self.write(data[0+i:4+i])
sleep_ms(delay)
class TM1637Decimal(TM1637):
"""Library for quad 7-segment LED modules based on the TM1637 LED driver.
This class is meant to be used with decimal display modules (modules
that have a decimal point after each 7-segment LED).
"""
def encode_string(self, string):
"""Convert a string to LED segments.
Convert an up to 4 character length string containing 0-9, a-z,
space, dash, star and '.' to an array of segments, matching the length of
the source string."""
segments = bytearray(len(string.replace('.','')))
j = 0
for i in range(len(string)):
if string[i] == '.' and j > 0:
segments[j-1] |= TM1637_MSB
continue
segments[j] = self.encode_char(string[i])
j += 1
return segments
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