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#define LED ( 13 )
#define MOTOR\_PIN0 ( 8 )
#define MOTOR\_PIN1 ( 9 )
#define MOTOR\_PIN2 ( 10 )
#define MOTOR\_PIN3 ( 11 )
#define KEY\_Add ( 4 )
#define KEY\_Sub ( 5 )
static unsigned char Speed = 110;//初始速度值
unsigned char ButtonAdd = 0 ;//按键+状态
unsigned char ButtonSub = 0 ;//按键-状态
unsigned char CW_flag = 0 ;//按键正转状态
unsigned char CCW_flag = 0 ;//按键反转状态
unsigned char phasecw[8] ={0x01,0x02,0x04,0x08};// 逆时针
unsigned char phaseccw[8]={0x08,0x04,0x02,0x01};// 顺时针
void SetMotor(unsigned char InputData);//根据传送的数据Inputdata设置脉冲引脚输出
void motorNcircle(bool DIR);//position为正转或者反转
void Add()
{
Speed +=10;
if(Speed > 250) Speed =250;//最大值
}
void Sub()
{
Speed -=10;
if(Speed < 100) Speed =110;//最小值
}
void Trg\_CW(){CCW_flag = 0; CW_flag = !CW_flag;}
void Trg\_CCW(){CW_flag = 0; CCW_flag = !CCW_flag;}
void StepperCW(){ motorNcircle(1);}
void StepperCCW(){ motorNcircle(0);}
void setup()
{
pinMode( LED, OUTPUT );//指示灯
pinMode( MOTOR_PIN0, OUTPUT );//电机控制相线
pinMode( MOTOR_PIN1, OUTPUT );
pinMode( MOTOR_PIN2, OUTPUT );
pinMode( MOTOR_PIN3, OUTPUT );
pinMode(2, INPUT_PULLUP);//加速按键
pinMode(3, INPUT_PULLUP);//减速按键
pinMode(KEY_Add, INPUT_PULLUP);//正转/停止检测按钮
pinMode(KEY_Sub, INPUT_PULLUP);//反转/停止检测按钮
attachInterrupt(0, Trg_CW, FALLING); //外部中断号 0，接引脚IO 2,触发方式：高电平变为低电平触发(下降沿触发)
attachInterrupt(1, Trg_CCW, FALLING); //外部中断号 1，接引脚I0 3,触发方式：高电平变为低电平触发(下降沿触发)
}
void loop()
{
static unsigned char i = 0;
unsigned char ButtonAdd = digitalRead(KEY_Add);//正转按键被按下
unsigned char ButtonSub = digitalRead(KEY_Sub);//反转按键被按下
if(ButtonAdd == 0){//检测到有按键按下
delay(10);//消抖处理
if(ButtonAdd == 0){//确认按键被按下
ButtonAdd = 1 - ButtonAdd ;
while(!digitalRead(KEY_Add));//等待按键被释放抬起
}
}
if(ButtonSub == 0){//检测到有按键按下
delay(10);//消抖处理
if(ButtonSub == 0){//确认按键被按下
ButtonSub = 1 - ButtonSub ;
while(!digitalRead(KEY_Sub));//等待按键被释放抬起
}
}
if(ButtonAdd){ Add(); }
if(ButtonSub){ Sub(); }
if(CW_flag){StepperCW();}//正转
if(CCW_flag){StepperCCW();}//反转
else{
//这里可以填写其他控制代码
digitalWrite( MOTOR_PIN0, LOW );
digitalWrite( MOTOR_PIN1, LOW );
digitalWrite( MOTOR_PIN2, LOW );
digitalWrite( MOTOR_PIN3, LOW );
digitalWrite( LED, HIGH );
}
}
void SetMotor(unsigned char InputData)//根据传送的数据Inputdata设置脉冲引脚输出
{//根据传送的数据Inputdata设置IO8-IO11引脚输出
if(InputData&0x01)
{
digitalWrite( MOTOR_PIN0, HIGH );
}
else
{
digitalWrite( MOTOR_PIN0, LOW );
}
if(InputData&0x02)
{
digitalWrite( MOTOR_PIN1, HIGH );
}
else
{
digitalWrite( MOTOR_PIN1, LOW );
}
if(InputData&0x04)
{
digitalWrite( MOTOR_PIN2, HIGH );
}
else
{
digitalWrite( MOTOR_PIN2, LOW );
}
if(InputData&0x08)
{
digitalWrite( MOTOR_PIN3, HIGH );
}
else
{
digitalWrite( MOTOR_PIN3, LOW );
}
}
//position 方向
void motorNcircle(bool DIR)//n为步进电机转动的圈数，position为正转或者反转
{
byte k=0;
for(k=0;k<4;k++)
{//4相单双8拍
if(DIR)
{
SetMotor(phasecw[k]);
}
else
{
SetMotor(phaseccw[k]);
}
delay(110);//延时：速度控制，数值越大速度越慢。电流0.65A
}
}
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