物联网开发127 - Micropython ESP32 C3控制ULN2003达林顿28BYJ48步进电机

一、目的

        这一节我们来学习如何使用合宙ESP32 C3连接ULN2003达林顿28BYJ48步进电机，实现步进电机指定角度旋转。下面我们一起来学习一下吧！

        在很早之前我们也学习过步进电机，先让我们温习一下：

物联网开发笔记（34）- 使用Micropython开发ESP32开发板之控制步进电机（28BYJ-48）_esp32驱动步进电机-CSDN博客文章浏览阅读5.4k次，点赞9次，收藏61次。使用Micropython开发ESP32开发板之控制步进电机（28BYJ-48）_esp32驱动步进电机https://blog.csdn.net/zhusongziye/article/details/127718319?spm=1001.2014.3001.5501

二、环境

        ESP32 C3开发板（MicroPython v1.19.1 on 2022-06-18）+ ULN2003达林顿28BYJ48步进电机机 + 几根杜邦线 + Win10商业版

        ESP32 C3和各模块接线方法：

三、ULN2003驱动

uln2003.py

from machine import Pin
import time

# only test for uln2003

class ULN2003:
    
    FULL_ROTATION = int(4075.7728395061727 / 8)
    
    """Four phase eight beat timing"""
    HALF_STEP = [
        
        [0, 1, 1, 1],
        [0, 0, 1, 1],
        [1, 0, 1, 1],
        [1, 0, 0, 1],
        [1, 1, 0, 1],
        [1, 1, 0, 0],
        [1, 1, 1, 0],
        [0, 1, 1, 0],
    ]
    
    """Four phase double four beat timing"""
    FULL_STEP = [
        
        [0, 1, 1, 0],
        [0, 0, 1, 1],
        [1, 0, 1, 1],
        [1, 1, 0, 0]
    ]
    
    def __init__(self, mode, pin1, pin2, pin3, pin4, delay):
    	if mode=='FULL_STEP':
        	self.mode = self.FULL_STEP
        else:
        	self.mode = self.HALF_STEP
        self.pin1 = pin1
        self.pin2 = pin2
        self.pin3 = pin3
        self.pin4 = pin4
        self.delay = delay  # Recommend 10+ for FULL_STEP, 1 is OK for HALF_STEP
        
        # Initialize all to 0
        self.reset()
        
    def step(self, count, direction = 1):
        
        """Rotate count steps. direction = -1 means backwards"""
        if count<0:
            direction = -1
            count = -count
        for x in range(count):
            for bit in self.mode[::direction]:
                self.pin1(bit[0])
                self.pin2(bit[1])
                self.pin3(bit[2])
                self.pin4(bit[3])
                time.sleep_ms(self.delay)
        self.reset()
        
    def angle(self, r, direction=1):
    	self.step(int(self.FULL_ROTATION * r / 360), direction)

    def reset(self):
        # Reset to 0, no holding, these are geared, you can't move them
        self.pin1(0) 
        self.pin2(0) 
        self.pin3(0) 
        self.pin4(0)

四、示例程序

demo.py

from machine import Pin
from uln2003 import ULN2003  # 导入驱动

# motor1使用八拍模式
motor1 = ULN2003(ULN2003.HALF_STEP,Pin(2,Pin.OUT),Pin(3,Pin.OUT),Pin(10,Pin.OUT),Pin(6,Pin.OUT),delay = 2)
# motor2使用四拍模式
motor2 = ULN2003(ULN2003.FULL_STEP,Pin(2,Pin.OUT),Pin(3,Pin.OUT),Pin(10,Pin.OUT),Pin(6,Pin.OUT),delay = 2)

def Motor():
    # 八拍减速比是64, 64 * 8 = 512步，对应的是360度。
    # 64 * 8 = 512 = 360
    
    # 步数
    motor1.step(512/2, 1)  # 180度，正转
    motor1.step(512,-1)    # 180度，反转
    
    # (360度数 / 5.625步间距) * 64 = 4096 个脉冲
    # 角度
    motor2.angle(180,1)
    motor2.angle(360,-1)
    
def main():
    while True:
        Motor()
        
if __name__ == "__main__":
    main()

演示效果：

五、步进电机简介

六、步进电机模块购买

        1，步进电机购买地址：

商品详情https://detail.tmall.com/item.htm?abbucket=9&id=598238492419&ns=1&skuId=4372728356402&spm=a21n57.1.0.0.7a4f523cJZsEc5