汉扬编程 编程大纲 利用树莓派控制步进电机——Python语言

利用树莓派控制步进电机——Python语言

步进电机的优点在于它能够被精确定位,正向或反向一次性转动“一步”,并且也能够连续转动。本次实验,我们选用的舵机驱动芯片是ULN2003A,ULN2003 是高耐压、大电流复合晶体管阵列,由七个硅NPN 复合晶体管组成。为了方便起见,我们用了ULN2003A模块,电路连接方式如下图:

利用树莓派控制步进电机——Python语言

#!/usr/bin/env python

#########################################################

# File name: stepMotor.py

# Author: Jason Dai

# Date: 2015/01/26

#########################################################

import RPi.GPIO as GPIO

import time

IN1 = 11 # pin11

IN2 = 12

IN3 = 13

IN4 = 15

def setStep(w1, w2, w3, w4):

GPIO.output(IN1, w1)

GPIO.output(IN2, w2)

GPIO.output(IN3, w3)

GPIO.output(IN4, w4)

def stop():

setStep(0, 0, 0, 0)

def forward(delay, steps):

for i in range(0, steps):

setStep(1, 0, 0, 0)

time.sleep(delay)

setStep(0, 1, 0, 0)

time.sleep(delay)

setStep(0, 0, 1, 0)

time.sleep(delay)

setStep(0, 0, 0, 1)

time.sleep(delay)

def backward(delay, steps):

for i in range(0, steps):

setStep(0, 0, 0, 1)

time.sleep(delay)

setStep(0, 0, 1, 0)

time.sleep(delay)

setStep(0, 1, 0, 0)

time.sleep(delay)

setStep(1, 0, 0, 0)

time.sleep(delay)

def setup():

GPIO.setwarnings(False)

GPIO.setmode(GPIO.BOARD) # Numbers GPIOs by physical location

GPIO.setup(IN1, GPIO.OUT) # Set pin\’s mode is output

GPIO.setup(IN2, GPIO.OUT)

GPIO.setup(IN3, GPIO.OUT)

GPIO.setup(IN4, GPIO.OUT)

def loop():

while True:

print \”backward…\”

backward(0.003, 512) # 512 steps — 360 angle

print \”stop…\”

stop() # stop

time.sleep(3) # sleep 3s

print \”forward…\”

forward(0.005, 512)

print \”stop…\”

stop()

time.sleep(3)

def destroy():

GPIO.cleanup() # Release resource

if __name__ == \’__main__\’: # Program start from here

setup()

try:

loop()

except KeyboardInterrupt: # When \’Ctrl+C\’ is pressed, the child function destroy() will be executed.

destroy()

运行程序:

python stepMotor.py

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