步进电机实验28BYJ-48 5V DC转向和转速问题
本人新手，还在实验入门教程，根据教程的代码不管怎么写都只朝一个方向转，没弄明白，只好看Stepper.cpp源码。发现注释有这个玩意，应该是步进各相的时序吧（四拍？）Step C0 C1 C2 C3
11010
20110
30101
41001
但网上只查到这种时序（八拍？），
橙 黄粉 蓝 十六制
10000x08
11000x0c
01000x04
01100x06
00100x02
00110x03
00010x01
10 0 10x09
于是在Stepper里加了个方法：
void Stepper::stepMotor1(int thisStep){
switch (thisStep) {
case 0: // 0001
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
break;
case 1: // 0011
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, HIGH);
break;
case 2: //0010
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
case 3: //0110
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, HIGH);
digitalWrite(motor_pin_4, LOW);
break;
case 4: //0100
digitalWrite(motor_pin_1, LOW);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 5: //1100
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, HIGH);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 6: //1000
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, LOW);
break;
case 7: //1001
digitalWrite(motor_pin_1, HIGH);
digitalWrite(motor_pin_2, LOW);
digitalWrite(motor_pin_3, LOW);
digitalWrite(motor_pin_4, HIGH);
break;
}
}
同时把step里面的代码改下
//stepMotor(this->step_number % 4);
stepMotor1(this->step_number % 8);
OK, 这下调用step()方法两个方向都能转了。。虽然可以通过调整调用stepMotor1的频率来控制转速，
但还是不清楚28BYJ-48一圈到底是多少步，于是又实验下，发现外围转一圈大概调用四千多次方法，难道步数就是360除以步进角度吗？查了下28BYJ-48步进角度5.625/64，是那不就是360/（5.625/64）=4096步吗？跟实验不谋而合，求证实，因为没看到一个教程说28BYJ-48一圈是4096步。。。{:soso_e132:}{:soso_e103:}
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