恳请高手留步：步进电机正反转速度不一致

wolfcolorful 发表于 2016-7-19 15:02:10

材料——Arduino Mega 2560板子
         ULN2003APG驱动板
         28BYJ-48电机
         杜邦线若干
主程序：
/*
long step_delay=0;
long last_step_time=0;
int step_number=0;

int Pin0=8,Pin1=9,Pin2=10,Pin3=11;
int number_of_steps=64;//1:64
*/

/******************/
#include<my_stepper.h>
My_stepper stepper(8,9,10,11);
void setup()
{
Serial.begin(9600);
stepper.my_setSpeed(500);
}

void loop()
{
stepper.my_step(64*64,1);//64*64 step == 2*PI
//delay(2000);
}

库文件：

#ifndef MY_STEPPR_H
#define MY_STEPPR_H

class My_stepper{
public:
   My_stepper(int p1,int p2,int p3,int p4);
   void my_stepMotor(int thisStep);
   void my_setSpeed(long whatSpeed);
   void my_step(int steps_to_move,int direction);

private:
   int whatSpeed;          //set speed
   long step_delay;    //it relate to speed
   long last_step_time;
   int step_number;
   int number_of_steps; //1:64
   int Pin0,Pin1,Pin2,Pin3;
};

#endif

.cpp文件
/*
*    Filename:my_stepper.cpp
*
* Description:
*
*    Version:1.0
*    Created:2014-1-13 11:40:42
*    Revision:none
*    Compiler:gcc
*
*       Author:YOUR NAME (V__KING__),
*    Company: sogworks
*
* =====================================================================================
*/

#include"my_stepper.h"
#include"Arduino.h"
My_stepper::My_stepper(int p1,int p2,int p3,int p4)
{
this->Pin0=p1;
this->Pin1=p2;
this->Pin2=p3;
this->Pin3=p4;
pinMode(this->Pin0,OUTPUT);
pinMode(this->Pin1,OUTPUT);
pinMode(this->Pin2,OUTPUT);
pinMode(this->Pin3,OUTPUT);

}
void My_stepper::my_stepMotor(int thisStep)
{
switch (thisStep) {
case 0:
digitalWrite(this->Pin0, LOW);
digitalWrite(this->Pin1, LOW);
digitalWrite(this->Pin2, LOW);
digitalWrite(this->Pin3, HIGH);
break;
case 1:
digitalWrite(this->Pin0, LOW);
digitalWrite(this->Pin1, LOW);
digitalWrite(this->Pin2, HIGH);
digitalWrite(this->Pin3, HIGH);
break;
case 2:
digitalWrite(this->Pin0, LOW);
digitalWrite(this->Pin1, LOW);
digitalWrite(this->Pin2, HIGH);
digitalWrite(this->Pin3, LOW);
break;
case 3:
digitalWrite(this->Pin0, LOW);
digitalWrite(this->Pin1, HIGH);
digitalWrite(this->Pin2, HIGH);
digitalWrite(this->Pin3, LOW);
break;
case 4:
digitalWrite(this->Pin0, LOW);
digitalWrite(this->Pin1, HIGH);
digitalWrite(this->Pin2, LOW);
digitalWrite(this->Pin3, LOW);
break;
case 5:
digitalWrite(this->Pin0, HIGH);
digitalWrite(this->Pin1, HIGH);
digitalWrite(this->Pin2, LOW);
digitalWrite(this->Pin3, LOW);
break;
case 6:
digitalWrite(this->Pin0, HIGH);
digitalWrite(this->Pin1, LOW);
digitalWrite(this->Pin2, LOW);
digitalWrite(this->Pin3, LOW);
break;
case 7:
digitalWrite(this->Pin0, HIGH);
digitalWrite(this->Pin1, LOW);
digitalWrite(this->Pin2, LOW);
digitalWrite(this->Pin3, HIGH);
break;
default:
digitalWrite(this->Pin0, LOW);
digitalWrite(this->Pin1, LOW);
digitalWrite(this->Pin2, LOW);
digitalWrite(this->Pin3, LOW);
break;
}
}

void My_stepper::my_setSpeed(long whatSpeed)
{
this->number_of_steps=64;
this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
}

void My_stepper::my_step(int steps_to_move,int direction)
{
int steps_left = abs(steps_to_move);// how many steps to take

// decrement the number of steps, moving one step each time:
while(steps_left > 0) {
// move only if the appropriate delay has passed:examples
if (millis() - this->last_step_time >= this->step_delay) {
// get the timeStamp of when you stepped:
this->last_step_time = millis();
// increment or decrement the step number,
// depending on direction:
if (direction == 1) {
this->step_number++;
if (this->step_number == this->number_of_steps) {
this->step_number = 0;
}
}
else if(direction==-1){
if (this->step_number == 0) {
this->step_number = this->number_of_steps;
}
this->step_number--;
Serial.println(this->step_number);
}
// decrement the steps left:
steps_left--;
// step the motor to step number 0, 1, 2, or 3:
my_stepMotor(this->step_number % 8);
}
}
}

Keywords文件
My_stepper KEYWORD1
my_stepMotor KEYWORD2
my_setSpeed KEYWORD3
my_step KEYWORD4

以上代码均为转载。地址http://blog.csdn.net/v__king__/article/details/18222323

问题描述如下：
1）在软件中更改direction参数为-1，即换向旋转，速度为正常的1/3左右。
2）更改电机连接线的相序，从A-B-C-D换为A-B-D-C，同时将direction参数更改为-1，电机运行方向与1）相反，速度一致；但是如果不更改direction参数，速度依然为正常的1/3。

分析如下：
1）设定的4相8拍的驱动方式应该没有问题；
2）程序中换向运行的语句看不出来有什么问题；
3）有没有可能是电机的问题？

恳请高手留步并指教，谢谢！

wolfcolorful 发表于 2016-7-19 15:02:11

图片与视频资料

本帖最后由 wolfcolorful 于 2016-7-19 15:29 编辑

接线方式参考http://www.arduino.cn/thread-12508-1-1.html

运行视频
http://v.youku.com/v_show/id_XMTY0OTc0NDMyMA==.html?from=y1.7-2

http://v.youku.com/v_show/id_XMTY0OTc0NDMxMg==.html?from=y1.7-2

wolfcolorful 发表于 2016-7-19 16:05:12

或者说其实可能是因为换线8拍的驱动方式不再适合、需要改变驱动方式？

wolfcolorful 发表于 2016-7-19 17:38:49

屏蔽cpp文件中的 Serial.println(this->step_number)即可正常运转。
难道是因为频繁串口通信导致影响步进电机的时序吗？！

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恳请高手留步：步进电机正反转速度不一致

图片与视频资料