tb6560步进电机驱动arduino库

#include "EasyStepper.h" EasyStepper::EasyStepper(byte stepPin, byte directionPin, byte enablePin, bool directionPinsInverted, bool enablePinsInverted) { // save the parameters this->stepPin = stepPin; this->directionPin = directionPin; this->enablePin = enablePin; this->directionPinsInverted = directionPinsInverted; this->enablePinsInverted = enablePinsInverted; } void EasyStepper::startup() { // set the pin mode pinMode(this->stepPin, OUTPUT); pinMode(this->directionPin, OUTPUT); pinMode(this->enablePin, OUTPUT); // enable the stepper digitalWrite(enablePin, HIGH ^ this->enablePinsInverted); // initialize the done to true this->done = true; } void EasyStepper::shutdown() { // disable the stepper digitalWrite(enablePin, LOW ^ this->enablePinsInverted); } void EasyStepper::debugMode(boolean enabled) { this->debugModeFlag = enabled; } void EasyStepper::rotate(float speed, int steps) { this->rotate(speed, steps, 0); } void EasyStepper::rotate(float speed, int steps, int acceleration) { // ignore the zero value if (speed != 0 && steps != 0) { if (steps > 0) { // CW digitalWrite(directionPin, HIGH ^ this->directionPinsInverted); } else if (steps < 0) { // CCW digitalWrite(directionPin, LOW ^ this->directionPinsInverted); } // done flag this->done = false; // the steps to go this->stepsToGo = abs(steps); // the acceleration this->acceleration = abs(acceleration); if (this->stepsToGo <= 4) { this->acceleration = 0; } // change the speed to stepTime, micro seconds per step this->stepTime = 1000.0 * 1000.0 / abs(speed); // start time this->startTime = this->stepTime * (this->acceleration + 1); // stage1 this->stage1 = this->stepsToGo / 4; this->stage1StepTime = (float) this->acceleration * this->stepTime / this->stage1; // stage2 this->stage2 = this->stepsToGo / 4 * 3; this->stage3StepTime = (float) this->acceleration * this->stepTime / (this->stepsToGo - this->stage2); // the steps gone this->stepsGone = 0; // current timestamp unsigned long time = micros(); if (this->debugModeFlag) { Serial.print("rotate: direction="); Serial.print(steps > 0 ? "CW" : "CCW"); Serial.print(", stepsToGo="); Serial.print(this->stepsToGo); Serial.print(", acceleration="); Serial.print(this->acceleration); Serial.print(", startTime="); Serial.print(this->startTime); Serial.print(", stage1="); Serial.print(this->stage1); Serial.print(", stage1StepTime="); Serial.print(this->stage1StepTime); Serial.print(", stage2="); Serial.print(this->stage2); Serial.print(", stage3StepTime="); Serial.print(this->stage3StepTime); Serial.print(", stepTime="); Serial.print(this->stepTime); Serial.print(", currentTimestamp="); Serial.println(time); } // call the step method to rotate the motor this->step(); } } void EasyStepper::stop() { this->stepsToGo = 0; this->done = true; } void EasyStepper::run() { // the current timestamp unsigned long time = micros(); if (!this->done && time >= this->nextTimestamp) { this->step(); } if (this->debugModeFlag) { Serial.print("currentTimeStamp="); Serial.println(time); } } void EasyStepper::step() { // are there some steps to rotate? if (this->stepsToGo > this->stepsGone) { // HIGH value digitalWrite(stepPin, HIGH); // delay delayMicroseconds(2); // LOW value digitalWrite(stepPin, LOW); // increase the stepsGone this->stepsGone++; // default: stage2 float nextStepTime = this->stepTime; if (this->acceleration != 0) { if (this->stepsGone < this->stage1) { // stage1: down to stepTime from startTime nextStepTime = this->startTime - this->stage1StepTime * this->stepsGone; } else if (this->stepsGone >= this->stage2) { // stage3: up to startTime from stepTime nextStepTime = this->stepTime + this->stage3StepTime * (this->stepsGone - this->stage2 + 1); } } // current timestamp unsigned long time = micros(); this->nextTimestamp = time + nextStepTime; if (this->debugModeFlag) { Serial.print("step: stepsGone="); Serial.print(this->stepsGone); Serial.print(", currentTimestamp="); Serial.print(time); Serial.print(", nextTimestamp="); Serial.print(this->nextTimestamp); Serial.print(", nextStepTime="); Serial.println(nextStepTime); } } else { this->done = true; } } boolean EasyStepper::isDone() { return this->done; }