add 28BYJ-48步进电机

Signed-off-by: Albert <15221024927@163.com>

examples/28BYJ-48.c

@@ -0,0 +1,207 @@
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <time.h>
+#include <sys/time.h>
+#include <wiringPi.h>
+
+#define MOTOR_PIN_1 0 // 连接到树莓派的GPIO引脚，需要根据你的实际连接修改
+#define MOTOR_PIN_2 1
+#define MOTOR_PIN_3 2
+#define MOTOR_PIN_4 3
+
+#define STEPS_PER_REVOLUTION 4096 // 28BYJ-48在8拍情况下：4096拍/外轴每转
+
+void setup();
+void setOneClockWiseBeat(int beat);
+void setOneAnticlockWiseBeat(int beat);
+void rotateMotorBySteps(int steps, bool clockwise, int speed);
+void rotateMotorByAngle(int angle, bool clockwise, int speed);
+void rotateMotorByTime(int seconds, bool clockwise, int speed);
+
+// 步进电机的8拍顺时针序列
+int motorClockWiseSteps[8][4] = {
+    {1, 0, 0, 0},
+    {1, 1, 0, 0},
+    {0, 1, 0, 0},
+    {0, 1, 1, 0},
+    {0, 0, 1, 0},
+    {0, 0, 1, 1},
+    {0, 0, 0, 1},
+    {1, 0, 0, 1}};
+
+// 步进电机的8拍逆时针序列
+int motorAnticlockwiseSteps[8][4] = {
+    {1, 0, 0, 1},
+    {0, 0, 0, 1},
+    {0, 0, 1, 1},
+    {0, 0, 1, 0},
+    {0, 1, 1, 0},
+    {0, 1, 0, 0},
+    {1, 1, 0, 0},
+    {1, 0, 0, 0}};
+
+void setup()
+{
+    wiringPiSetup();
+    pinMode(MOTOR_PIN_1, OUTPUT);
+    pinMode(MOTOR_PIN_2, OUTPUT);
+    pinMode(MOTOR_PIN_3, OUTPUT);
+    pinMode(MOTOR_PIN_4, OUTPUT);
+}
+
+// 发送一次脉冲信号，beat表示拍号
+void setOneClockWiseBeat(int beat)
+{
+    digitalWrite(MOTOR_PIN_1, motorClockWiseSteps[beat][0]);
+    digitalWrite(MOTOR_PIN_2, motorClockWiseSteps[beat][1]);
+    digitalWrite(MOTOR_PIN_3, motorClockWiseSteps[beat][2]);
+    digitalWrite(MOTOR_PIN_4, motorClockWiseSteps[beat][3]);
+}
+
+void setOneAnticlockWiseBeat(int beat)
+{
+    digitalWrite(MOTOR_PIN_1, motorAnticlockwiseSteps[beat][0]);
+    digitalWrite(MOTOR_PIN_2, motorAnticlockwiseSteps[beat][1]);
+    digitalWrite(MOTOR_PIN_3, motorAnticlockwiseSteps[beat][2]);
+    digitalWrite(MOTOR_PIN_4, motorAnticlockwiseSteps[beat][3]);
+}
+
+void rotateMotorBySteps(int steps, bool clockwise, int speed)
+{
+    // speed转delay
+    if (speed == 0)
+    {
+        return;
+    }
+    // 每拍持续时间
+    int microseconds = 100.0 / speed * 1000;
+    if (clockwise)
+    {
+        // 一直转
+        if (steps == -1)
+        {
+            for (;;)
+            {
+                for (int beat = 0; beat < 8; beat++)
+                {
+                    setOneClockWiseBeat(beat);
+                    // 调整延时以改变步进速度
+                    delayMicroseconds(microseconds);
+                }
+            }
+        }
+        else
+        {
+            for (int i = 0; i < steps; i++)
+            {
+                setOneClockWiseBeat(i % 8);
+                delayMicroseconds(microseconds);
+            }
+        }
+    }
+    else
+    {
+        // 一直转
+        if (steps == -1)
+        {
+            for (;;)
+            {
+                for (int beat = 0; beat < 8; beat++)
+                {
+                    setOneAnticlockWiseBeat(beat);
+                    delayMicroseconds(microseconds);
+                }
+            }
+        }
+        else
+        {
+            for (int i = 0; i < steps; i++)
+            {
+                setOneAnticlockWiseBeat(i % 8);
+                delayMicroseconds(microseconds);
+            }
+        }
+    }
+}
+
+void rotateMotorByAngle(int angle, bool clockwise, int speed)
+{
+    int steps = angle * STEPS_PER_REVOLUTION / 360;
+    rotateMotorBySteps(steps, clockwise, speed);
+}
+
+// 精度还可以
+void rotateMotorByTime(int seconds, bool clockwise, int speed)
+{
+    // 每step运行时间
+    int microseconds = 100.0 / speed * 1000 + 60; // 加一个修正值us
+    // seconds时间能运行多少steps
+    int eachStepTime = microseconds;
+    int steps = seconds * 1000 * 1000 / eachStepTime;
+    rotateMotorBySteps(steps, clockwise, speed);
+}
+
+int generate_random_number(int min, int max)
+{
+    srand(time(0));
+    return min + rand() % (max - min + 1);
+}
+
+bool randClockwise()
+{
+    srand(time(0));
+    return rand() % 2;
+}
+
+int main(void)
+{
+    setup();
+
+    int angle;
+    int speed;
+    bool clockwise;
+
+    // 测试随机角度，随机方向，随机速度
+    for (;;)
+    {
+        angle = generate_random_number(0, 90);
+        clockwise = randClockwise();
+        speed = generate_random_number(50, 100);
+        rotateMotorByAngle(angle, clockwise, speed);
+        if (clockwise)
+        {
+            printf("angle: %d°\tclockwise: %d->\tspeed: %d%%\n", angle, clockwise, speed);
+        }
+        else
+        {
+            printf("angle: %d°\tclockwise: %d<-\tspeed: %d%%\n", angle, clockwise, speed);
+        }
+
+        delay(100);
+    }
+
+    // //测试变速转动
+    // for(;;){
+    //     int b = 3;
+    //     for(int x = 0;x<=100;x++){
+    //         degrees = x*b;
+    //         clockwise = false;
+    //         speed = -(1/25.0)*(x-50)*(x-50)+100+20;
+    //         rotateMotorByAngle(b,clockwise,speed);
+    //         printf("degress:%d\tclockwise:%d\tspeed:%d\n",degrees,clockwise,speed);
+    //     }
+    // }
+
+    // // 测试设定转动时间
+    // struct timeval start,end;
+    // gettimeofday(&start, NULL );
+
+    // rotateMotorByTime(5,false,100);
+
+    // gettimeofday(&end, NULL );
+    // long timeuse =1000000 * ( end.tv_sec - start.tv_sec ) + end.tv_usec - start.tv_usec;
+    // printf("time=%f\n",timeuse /1000000.0);
+
+    return 0;
+}

examples/Makefile

@@ -48,7 +48,8 @@ SRC	=	blink.c blink8.c blink12.c					\
 		delayTest.c serialRead.c serialTest.c okLed.c ds1302.c		\
 		lowPower.c							\
 		max31855.c							\
-		rht03.c
+		rht03.c								\
+		28BYJ-48.c
 
 OBJ	=	$(SRC:.c=.o)
 
@@ -153,6 +154,10 @@ max31855:	max31855.o
 	$Q echo [link]
 	$Q $(CC) -o $@ max31855.o $(LDFLAGS) $(LDLIBS)
 
+28BYJ-48:	28BYJ-48.o
+	$Q echo [link]
+	$Q $(CC) -o $@ 28BYJ-48.o $(LDFLAGS) $(LDLIBS)
+
 .c.o:
 	$Q echo [CC] $<
 	$Q $(CC) -c $(CFLAGS) $< -o $@