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极客工坊»首页 › Aduino与它的朋友们 › 求助区 › 关于自己写的一个两轴步进电机云台的库函数，求助... ...
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关于自己写的一个两轴步进电机云台的库函数，求助...

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highplay86
发表于 2012-10-19 17:35:46 | 显示全部楼层 |阅读模式
本帖最后由 highplay86 于 2012-10-19 17:45 编辑

最近在搞一个履带机器人，上面需要用到一个两轴的步进电机云台，为了编写程序更快捷高效，于是花时间自己写了一个专门驱动这个云台的库函数...其实原理简单的不能再简单....
就是写一个库函数，打包同时控制两个步进电机的函数调用，具体的代码如下...


  1. #ifndef Movetable_h
  2. #define Movetable_h

  4. class Movetable
  5. {
  6.         private:
  7.         int _stepper1A1pin;
  8.         int _stepper1A2pin;
  9.         int _stepper1B1pin;
  10.         int _stepper1B2pin;
  11.         int _stepper2A1pin;
  12.         int _stepper2A2pin;
  13.         int _stepper2B1pin;
  14.         int _stepper2B2pin;
  15.        
  16.         public:
  17.         Movetable(int _stepper1A1pin,int _stepper1A2pin,int _stepper1B1pin,int _stepper1B2pin,
  18.                   int _stepper2A1pin,int _stepper2A2pin,int _stepper2B1pin,int _stepper2B2pin);
  19.         void setSpeed(float _speed);
  20.         void left_Rotate(float _speed);
  21.         void right_Rotate(float _speed);
  22.         void up_Rotate(float _speed);
  23.         void down_Rotate(float _speed);
  24.         void left_up_Rotate(float _speed);
  25.         void left_down_Rotate(float _speed);
  26.         void right_up_Rotate(float _speed);
  27.         void right_down_Rotate(float _speed);
  28.         void stop();
  29.        
  30. };
复制代码

以上是定义的库函数的头文件说明

以下是库函数主体：
  1. /**************************************************
  2. 两轴步进电机云台驱动库函数
  3. 编写人：highplay86
  4. 时间：2012/10/17

  6. ***************************************************/
  7. #include "Arduino.h"
  8. #include "Movetable.h"
  9. #include "Stepper.h"
  10. #define STEPS 100  // 这里设置步进电机旋转一圈是多少步


  13. Movetable::Movetable(int _step1A1pin,int _step1A2pin,int _step1B1pin,int _step1B2pin,
  14.                      int _step2A1pin,int _step2A2pin,int _step2B1pin,int _step2B2pin)
  15. {
  16.         _stepper1A1pin=_step1A1pin;
  17.         _stepper1A2pin=_step1A2pin;
  18.         _stepper1B1pin=_step1B1pin;
  19.         _stepper1B2pin=_step1B2pin;
  20.         _stepper2A1pin=_step2A1pin;
  21.         _stepper2A2pin=_step2A2pin;
  22.         _stepper2B1pin=_step2B1pin;
  23.         _stepper2B2pin=_step2B2pin;

  25.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  26.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);

  28. }
  29. void Movetable::setSpeed(float _speed)
  30. {
  31.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  32.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  33.        
  34.         stepper1.setSpeed(_speed);
  35.         stepper2.setSpeed(_speed);
  36. }
  37. void Movetable::left_Rotate(float _speed)
  38. {
  39.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  40.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  41.        
  42.         stepper1.step(100);
  43.         delay(2);
  44.         stepper1.setSpeed(300-(_speed/521)*300);
  45. }
  46. void Movetable::right_Rotate(float _speed)
  47. {
  48.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  49.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  50.        
  51.         stepper1.step(-100);
  52.         delay(2);
  53.         stepper1.setSpeed(300-(_speed/521)*300);
  54. }
  55. void Movetable::up_Rotate(float _speed)
  56. {
  57.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  58.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  59.        
  60.         stepper2.step(100);
  61.         delay(2);
  62.         stepper2.setSpeed(300-(_speed/521)*300);
  63. }
  64. void Movetable::down_Rotate(float _speed)
  65. {
  66.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  67.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  68.        
  69.         stepper2.step(-100);
  70.         delay(2);
  71.         stepper2.setSpeed(300-(_speed/521)*300);
  72. }
  73. void Movetable::left_up_Rotate(float _speed)
  74. {
  75.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  76.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  77.        
  78.         stepper1.step(100);
  79.         delay(1);
  80.         stepper1.setSpeed(300-(_speed/521)*300);
  81.         stepper2.step(100);
  82.         delay(1);
  83.         stepper2.setSpeed(300-(_speed/521)*300);
  84. }
  85. void Movetable::left_down_Rotate(float _speed)
  86. {
  87.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  88.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  89.        
  90.         stepper1.step(100);
  91.         delay(1);
  92.         stepper1.setSpeed(300-(_speed/521)*300);
  93.         stepper2.step(-100);
  94.         delay(1);
  95.         stepper2.setSpeed(((_speed-521)/521)*300);
  96. }
  97. void Movetable::right_up_Rotate(float _speed)
  98. {
  99.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  100.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  101.        
  102.         stepper1.step(-100);
  103.         delay(1);
  104.         stepper1.setSpeed(((_speed-521)/521)*300);
  105.         stepper2.step(100);
  106.         delay(1);
  107.         stepper2.setSpeed(300-(_speed/521)*300);
  108. }
  109. void Movetable::right_down_Rotate(float _speed)
  110. {
  111.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  112.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  113.        
  114.         stepper1.step(-100);
  115.         delay(1);
  116.         stepper1.setSpeed(((_speed-521)/521)*300);
  117.         stepper2.step(-100);
  118.         delay(1);
  119.         stepper2.setSpeed(((_speed-521)/521)*300);
  120. }
  121. void Movetable::stop()
  122. {
  123.         Stepper stepper1(STEPS, _stepper1A1pin, _stepper1A2pin, _stepper1B1pin, _stepper1B2pin);
  124.         Stepper stepper2(STEPS, _stepper2A1pin, _stepper2A2pin, _stepper2B1pin, _stepper2B2pin);
  125.        
  126.         stepper1.step(0);
  127.         stepper2.step(0);
复制代码



修改了好多次...到上面这个版本...终于能够驱动一个步进电机了...不过问题就是，只能驱动一个步进电机，另一个就是不动...
测试过后发现是程序的问题，库函数主体程序中Stepper1控制的那个通道控制正常...Stepper2控制就不正常...

下方是写的一个测试这个库的测试程序：

  1. #include <Stepper.h>

  3. #include <Movetable.h>

  5.   int xpotPin = 0;  //设置模拟口0为X的信号输入端口
  6.   int ypotPin = 1;  //设置模拟口1为Y的信号输入端口
  7.   int xval=0;    //设置变量
  8.   int yval=0;
  9.   long value=0;
  10.   float val;
  11.   // attached to设置步进电机的步数和引脚
  12.   Movetable movetable(2,3,4,5,8,9,10,11);
  13.   
  14.   void setup()
  15.   {
  16.     Serial.begin(9600);//设置波特率为9600
  17.     movetable.setSpeed(300);
  18.   }
  19.   void loop ()
  20.   {
  21.         xval = analogRead(xpotPin);   //xval变量为从0信号口读取到的数值
  22.         yval = analogRead(ypotPin);   //yval变量为从1信号口读取到的数值
  23.         Serial.print(xval);//显示xval 变量数值
  24.         Serial.print("   and   ");
  25.         Serial.println(yval);//显示yval 变量数值
  26.         delay(200);
  27.         
  28.         movetable.right_Rotate(2);
  29.         
  30.         movetable.left_Rotate(2);
  31.         
  32.         movetable.up_Rotate(2);
  33.         
  34.         movetable.down_Rotate(2);

  36.         // 获取传感器读数
复制代码


程序中的X,Y是一个PS2摇杆，串口打印函数仅仅是为了判断程序有无在执行Loop循环...我发现只要写进了Stepper2通道的执行程序，Loop函数就只执行一次...

如下是测试视频：




如果把测试代码中最后两行Stepper2的去掉，驱动就正常了...
  1. #include <Stepper.h>

  3. #include <Movetable.h>

  5.   int xpotPin = 0;  //设置模拟口0为X的信号输入端口
  6.   int ypotPin = 1;  //设置模拟口1为Y的信号输入端口
  7.   int xval=0;    //设置变量
  8.   int yval=0;
  9.   long value=0;
  10.   float val;
  11.   // attached to设置步进电机的步数和引脚
  12.   Movetable movetable(2,3,4,5,8,9,10,11);
  13.   
  14.   void setup()
  15.   {
  16.     Serial.begin(9600);//设置波特率为9600
  17.     movetable.setSpeed(300);
  18.   }
  19.   void loop ()
  20.   {
  21.         xval = analogRead(xpotPin);   //xval变量为从0信号口读取到的数值
  22.         yval = analogRead(ypotPin);   //yval变量为从1信号口读取到的数值
  23.         Serial.print(xval);//显示xval 变量数值
  24.         Serial.print("   and   ");
  25.         Serial.println(yval);//显示yval 变量数值
  26.         delay(200);
  27.         
  28.         movetable.right_Rotate(2);
  29.         
  30.         movetable.left_Rotate(2);

  32.         // 获取传感器读数

  34.   }
复制代码


测试视频如下：



我检查了库文件好久了，实在是没发现哪不对劲的...求解......
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