From 5344e5ccc70ca435050707db0c4d35a8d68d6f17 Mon Sep 17 00:00:00 2001 From: Albert <15221024927@163.com> Date: Thu, 18 Apr 2024 05:30:54 +0800 Subject: [PATCH] =?UTF-8?q?add=2028BYJ-48=E6=AD=A5=E8=BF=9B=E7=94=B5?= =?UTF-8?q?=E6=9C=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Albert <15221024927@163.com> --- examples/28BYJ-48.c | 207 ++++++++++++++++++++++++++++++++++++++++++++++++++++ examples/Makefile | 7 +- 2 files changed, 213 insertions(+), 1 deletion(-) create mode 100644 examples/28BYJ-48.c diff --git a/examples/28BYJ-48.c b/examples/28BYJ-48.c new file mode 100644 index 0000000..9f029ae --- /dev/null +++ b/examples/28BYJ-48.c @@ -0,0 +1,207 @@ +#include +#include +#include +#include +#include +#include + +#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; +} diff --git a/examples/Makefile b/examples/Makefile index 7e95df3..9bf7982 100644 --- a/examples/Makefile +++ b/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 $@