使用单电机控制 Arduino (Uno) 库控制两个步进电机

Posted 2023-02-22

【中文标题】使用单电机控制 Arduino (Uno) 库控制两个步进电机

【英文标题】：Control two stepper motors with single motor control Arduino (Uno) library

【发布时间】：2019-02-19 09:38:15

【问题描述】：

我正在使用以下免费软件代码成功驱动步进电机：

/*
 * Simple demo, should work with any driver board
 *
 * Connect STEP, DIR as indicated
 *
 * Copyright (C)2015-2017 Laurentiu Badea
 *
 * This file may be redistributed under the terms of the MIT license.
 * A copy of this license has been included with this distribution in the file LICENSE.
 */
#include <Arduino.h>
#include "BasicStepperDriver.h"

// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
#define MOTOR_STEPS 200
#define RPM 120

// Since microstepping is set externally, make sure this matches the selected mode
// If it doesn't, the motor will move at a different RPM than chosen
// 1=full step, 2=half step etc.
#define MICROSTEPS 1

// All the wires needed for full functionality
#define DIR 4
#define STEP 3
//Uncomment line to use enable/disable functionality
//#define SLEEP 13

// 2-wire basic config, microstepping is hardwired on the driver
BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP);

//Uncomment line to use enable/disable functionality
//BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP, SLEEP);

void setup() 
    stepper.begin(RPM, MICROSTEPS);
    // if using enable/disable on ENABLE pin (active LOW) instead of SLEEP uncomment next line
    // stepper.setEnableActiveState(LOW);


void loop() 

    // energize coils - the motor will hold position
    // stepper.enable();

    /*
     * Moving motor one full revolution using the degree notation
     */
    stepper.rotate(360);

    /*
     * Moving motor to original position using steps
     */
    stepper.move(-MOTOR_STEPS*MICROSTEPS);

    // pause and allow the motor to be moved by hand
    // stepper.disable();

    delay(5000);

但是，我想使用相同的 Arduino-Uno 一次驱动两个电机并稍微更改代码。我能做些什么？我对编码非常陌生，所以轻松一点。我知道有一种叫做函数的东西，它接收值。但是，我需要它使用多个控制引脚：每个电机两个 - “step”（每次将电机进一步移动一步）和“dir”（每个电机的旋转方向）。我也明白这个功能：

BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP);

不能一次接受 4 个值（DIR1、DIR2、STEP1 和 STEP2）。我想可以使用上面的代码（稍作改动），以便使用 4 个不同的 I/O 引脚（2 个用于第一个电机驱动器（我的 arduino 连接到一个电机驱动器）一次控制 2 个电机我有 2 个并想用另一个来驱动另一个电机）“step”和“dir”引脚，2 个用于第二个电机驱动器的“step”和“dir”引脚）。

感谢

【问题讨论】：

制作两个BasicStepperDriver 对象？

谢谢。我实际上是这样做的，我的代码如下：

【参考方案1】：

我做了以下并且成功了！

 /*
 * Simple demo, should work with any driver board
 *
 * Connect STEP, DIR as indicated
 *
 * Copyright (C)2015-2017 Laurentiu Badea
 *
 * This file may be redistributed under the terms of the MIT license.
 * A copy of this license has been included with this distribution in the file LICENSE.
 */
#include <Arduino.h>
#include "BasicStepperDriver.h"


// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
#define MOTOR_STEPS 200
#define RPM1 60
#define RPM2 60
#define RPM3 60


// Since microstepping is set externally, make sure this matches the selected mode
// If it doesn't, the motor will move at a different RPM than chosen
// 1=full step, 2=half step etc.
#define MICROSTEPS1 4
#define MICROSTEPS2 4
#define MICROSTEPS3 4


// All the wires needed for full functionality
#define DIR1 3
#define STEP1 4

#define DIR2 5
#define STEP2 6

#define DIR3 7
#define STEP3 8



//Uncomment line to use enable/disable functionality
//#define SLEEPx 13


// 2-wire basic config, microstepping is hardwired on the driver
// BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP);

BasicStepperDriver stepper1(MOTOR_STEPS, DIR1, STEP1); //DIR1 = ,GPIO 3, STEP1 = GPIO 4
BasicStepperDriver stepper2(MOTOR_STEPS, DIR2, STEP2); //DIR2 = ,GPIO 5, STEP2 = GPIO 6
BasicStepperDriver stepper3(MOTOR_STEPS, DIR3, STEP3); //DIR3 = ,GPIO 7, STEP8 = GPIO 8

//Uncomment line to use enable/disable functionality
//BasicStepperDriver stepper(MOTOR_STEPS, DIRx, STEPx, SLEEPx);



void setup() 

    stepper1.begin(RPM1, MICROSTEPS1);
    stepper2.begin(RPM2, MICROSTEPS2);
    stepper3.begin(RPM3, MICROSTEPS3);

    // if using enable/disable on ENABLE pin (active LOW) instead of SLEEP uncomment next line
    // stepper.setEnableActiveState(LOW);



void loop() 

    // energize coils - the motor will hold position
    // stepper.enable();

    /*
     * Moving motor one full revolution using the degree notation
     */
    stepper1.rotate(360);
    stepper2.rotate(360);
    stepper3.rotate(360);

    /*
     * Moving motor to original position using steps
     */
    stepper1.move(-MOTOR_STEPS*MICROSTEPS1);
    stepper2.move(-MOTOR_STEPS*MICROSTEPS2);
    stepper2.move(-MOTOR_STEPS*MICROSTEPS3);

    // pause and allow the motor to be moved by hand
    // stepper.disable();

    delay(1000);