求助 我的步进电机不转

evesky

我用Arduino2560连接步进电机驱动M420B控制步进电机滑台，用位移传感器检测位置。可是我编好程序步进电机只运行一步。我哪里出错了。

1. const int PUL = 13;
   
2. const int DIR = 12;
   
3. const int ENA = 11;
   
4. long delta;
   
5. long dt1;
   
6. long dt; float vol; float t,t_1;
   
7. volatile float v = 0, v_1, v_11;
   
8. unsigned long lasttime;
   
9. long unsigned mm;
   
10. int i = 2000;
    
11. int temp;
    
12. float ss;
    
13. int target_position; float old_position;float current_position;
    
14. int s_acc, s_dec;
    
15. boolean flag;
    
16. void setup()
    
17. {
    
18.   pinMode(PUL, OUTPUT);
    
19.   pinMode(DIR, OUTPUT);
    
20.   pinMode(ENA, OUTPUT);
    
21.   Serial.begin(9600);
    
22.   lasttime = 0;
    
23.    //**************************理想速度曲线**************************//
    
24.   if (current_position < -200) {
    
25.     t_1 = 400; v_1 = 2500;
    
26.   }
    
27.   if (current_position > 200) {
    
28.     t_1 = -400; v_1 = -2500;
    
29.   }
    
30.   else {
    
31.     t_1 = -80000/current_position; v_1 = -12.5*current_position;
    
32.   }
    
33.   /********************************************************************/
    
34. }
    
35. void loop() {
    
36.   //**************************检测位置**************************//
    
37.   int V1 = analogRead(A0);
    
38.   vol = V1 * (5.0 / 1023.0) * 1000;
    
39.   current_position = 270 * vol / 4690;
    
40.   current_position -= 120;
    
41.   current_position = round(current_position / 0.3);
    
42.   //  if (current_position == ss) {
    
43.   //    ss = current_position;
    
44.   //  }
    
45.   //  else {
    
46.   //    Serial.println(current_position);
    
47.   //    ss = current_position;
    
48.   //  }
    
49. /********************************************************************/
    
50.   
    
51.   v_1 = -12.5*(current_position + sgn(v)); //下一拍的理想速度
    
52. 
    
53.   int f = sgn(v-v_1); float new_position = round(-v/12.5);
    
54.   v_11 = -12.5 * (new_position + f);//下一拍的期望速度
    
55. 
    
56.   if ((v_11-v_1) * (v-v_1) < 0) {
    
57.     mm = micros();
    
58.     v = v_1;
    
59.     dt = round(1000000/v);
    
60.     dt1 = round(dt/2);
    
61.     digitalWrite(DIR, LOW);
    
62.     digitalWrite(ENA, HIGH);
    
63.    
    
64.     delta = mm - lasttime;
    
65.     if (delta < dt1) {
    
66.       digitalWrite(PUL, LOW);
    
67.     }
    
68.     else if (delta < dt) {
    
69.       digitalWrite(PUL, HIGH);
    
70.     }
    
71.     else {
    
72.       lasttime = mm;
    
73.       
    
74.     }
    
75.   }
    
76.   else if (v_11 * v < 0) {
    
77.     v = 0;
    
78.     //    digitalWrite(ENA, LOW);
    
79.   }
    
80.   else {
    
81.     mm = micros();
    
82.     v = v_11;
    
83.     dt = round(1000000/v);
    
84.     dt1 = round(dt / 2);
    
85.     digitalWrite(DIR, LOW);
    
86.     digitalWrite(ENA, HIGH);
    
87.    
    
88.     delta = mm - lasttime;
    
89.     if (delta < dt1) {
    
90.       digitalWrite(PUL, LOW);
    
91.     }
    
92.     else if (delta < dt) {
    
93.       digitalWrite(PUL, HIGH);
    
94.     }
    
95.     else {
    
96.       lasttime = mm;
    
97.       
    
98.     }
    
99.   }
    
100. }
     
101. int sgn(float x) {
     
102.   if (x > 0) return 1;
     
103.   else if (x < 0) return -1;
     
104.   else return 0;
     
105. }

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evesky

求大神