ACCELSTEPPER库实例分析

以下代码来自Accelstepper库的examples ,就是想弄清各个函数怎么实际应用。

实例清单如下：

1 AFMotor_ConstantSpeed

演示如何非常简单的运行AccelStepper
 固定速度模式没有加速度
 需要AFMotor库
 注意：Adafruit电机shield V2不兼容
浏览 https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library 
 来获取如何在Adafruit电机shield V2运行的实例

// AFMotor_ConstantSpeed.pde
// -*- mode: C++ -*-
//
// Shows how to run AccelStepper in the simplest,
// fixed speed mode with no accelerations
// Requires the AFMotor library
// (https://github.com/adafruit/Adafruit-Motor-Shield-library)
// Caution, does not work with Adafruit Motor Shield V2
// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library 
// for examples that work with Adafruit Motor Shield V2.

#include 
#include 

AF_Stepper motor1(200, 1);


// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
void forwardstep() {  
  motor1.onestep(FORWARD, SINGLE);
}
void backwardstep() {  
  motor1.onestep(BACKWARD, SINGLE);
}

AccelStepper stepper(forwardstep, backwardstep); // use functions to step

void setup()
{  
   Serial.begin(9600);           // set up Serial library at 9600 bps
   Serial.println("Stepper test!");
  
   stepper.setMaxSpeed(50);	
   stepper.setSpeed(50);	
}

void loop()
{  
   stepper.runSpeed();
}

2  AFMotor_MultiStepper

控制两个电机以不同的速度和加速度同时运动
 

// AFMotor_MultiStepper.pde
// -*- mode: C++ -*-
//
// Control both Stepper motors at the same time with different speeds
// and accelerations. 
// Requires the AFMotor library (https://github.com/adafruit/Adafruit-Motor-Shield-library)
// Caution, does not work with Adafruit Motor Shield V2
// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library 
// for examples that work with Adafruit Motor Shield V2.

#include 
#include 

// two stepper motors one on each port
AF_Stepper motor1(200, 1);
AF_Stepper motor2(200, 2);

// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
// wrappers for the first motor!
void forwardstep1() {  
  motor1.onestep(FORWARD, SINGLE);
}
void backwardstep1() {  
  motor1.onestep(BACKWARD, SINGLE);
}
// wrappers for the second motor!
void forwardstep2() {  
  motor2.onestep(FORWARD, SINGLE);
}
void backwardstep2() {  
  motor2.onestep(BACKWARD, SINGLE);
}

// Motor shield has two motor ports, now we'll wrap them in an AccelStepper object
AccelStepper stepper1(forwardstep1, backwardstep1);
AccelStepper stepper2(forwardstep2, backwardstep2);

void setup()
{  
    stepper1.setMaxSpeed(200.0);
    stepper1.setAcceleration(100.0);
    stepper1.moveTo(24);
    
    stepper2.setMaxSpeed(300.0);
    stepper2.setAcceleration(100.0);
    stepper2.moveTo(1000000);
    
}

void loop()
{
    // Change direction at the limits
    if (stepper1.distanceToGo() == 0)
	stepper1.moveTo(-stepper1.currentPosition());
    stepper1.run();
    stepper2.run();
}

3 Blocking

演示如何使用阻塞调用runToNewPosition，该调用设置一个新目标位置，然后等待，直到步进电机运行到指定位置。

// Blocking.pde
// -*- mode: C++ -*-
//
// Shows how to use the blocking call runToNewPosition
// Which sets a new target position and then waits until the stepper has 
// achieved it.
//
// Copyright (C) 2009 Mike McCauley
// $Id: Blocking.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

void setup()
{  
    stepper.setMaxSpeed(200.0);
    stepper.setAcceleration(100.0);
}

void loop()
{    
    stepper.runToNewPosition(0);
    stepper.runToNewPosition(500);
    stepper.runToNewPosition(100);
    stepper.runToNewPosition(120);
}

4  Bounce

从一个限位跳跃到另一个限位

// Bounce.pde
// -*- mode: C++ -*-
//
// Make a single stepper bounce from one limit to another
//
// Copyright (C) 2012 Mike McCauley
// $Id: Random.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

void setup()
{  
  // Change these to suit your stepper if you want
  stepper.setMaxSpeed(100);
  stepper.setAcceleration(20);
  stepper.moveTo(500);
}

void loop()
{
    // If at the end of travel go to the other end
    if (stepper.distanceToGo() == 0)
      stepper.moveTo(-stepper.currentPosition());

    stepper.run();
}

5   ConstantSpeed

演示如何固定速度模式没有加速度方式非常简单的运行AccelStepper

// ConstantSpeed.pde
// -*- mode: C++ -*-
//
// Shows how to run AccelStepper in the simplest,
// fixed speed mode with no accelerations
/// \author  Mike McCauley ([email protected])
// Copyright (C) 2009 Mike McCauley
// $Id: ConstantSpeed.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

void setup()
{  
   stepper.setMaxSpeed(1000);
   stepper.setSpeed(50);	
}

void loop()
{  
   stepper.runSpeed();
}

6   DualMotorShield

使用Itead Studio 双电机驱动板同时运行两个步进电机 实现两个电机同时来回移动

// DualMotorShield.pde
// -*- mode: C++ -*-
//
// Shows how to run 2 simultaneous steppers
// using the Itead Studio Arduino Dual Stepper Motor Driver Shield
// model IM120417015
// This shield is capable of driving 2 steppers at 
// currents of up to 750mA
// and voltages up to 30V
// Runs both steppers forwards and backwards, accelerating and decelerating
// at the limits.
//
// Copyright (C) 2014 Mike McCauley
// $Id:  $

#include 

// The X Stepper pins
#define STEPPER1_DIR_PIN 3
#define STEPPER1_STEP_PIN 2
// The Y stepper pins
#define STEPPER2_DIR_PIN 7
#define STEPPER2_STEP_PIN 6

// Define some steppers and the pins the will use
AccelStepper stepper1(AccelStepper::DRIVER, STEPPER1_STEP_PIN, STEPPER1_DIR_PIN);
AccelStepper stepper2(AccelStepper::DRIVER, STEPPER2_STEP_PIN, STEPPER2_DIR_PIN);

void setup()
{  
    stepper1.setMaxSpeed(200.0);
    stepper1.setAcceleration(200.0);
    stepper1.moveTo(100);
    
    stepper2.setMaxSpeed(100.0);
    stepper2.setAcceleration(100.0);
    stepper2.moveTo(100);
}

void loop()
{
    // Change direction at the limits
    if (stepper1.distanceToGo() == 0)
	stepper1.moveTo(-stepper1.currentPosition());
    if (stepper2.distanceToGo() == 0)
	stepper2.moveTo(-stepper2.currentPosition());
    stepper1.run();
    stepper2.run();
}

7  AFMotor_ConstantSpeed

控制三相电机，例如硬盘主轴电机
 

// AFMotor_ConstantSpeed.pde
// -*- mode: C++ -*-
//
// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
// using the Adafruit Motor Shield
// http://www.ladyada.net/make/mshield/index.html.
// Create a subclass of AccelStepper which controls the motor  pins via the
// Motor Shield serial-to-parallel interface

#include 

// Arduino pin names for interface to 74HCT595 latch
// on Adafruit Motor Shield
#define MOTORLATCH   12
#define MOTORCLK     4
#define MOTORENABLE  7
#define MOTORDATA    8

// PWM pins, also used to enable motor outputs
#define PWM0A        5
#define PWM0B        6
#define PWM1A        9
#define PWM1B        10
#define PWM2A        11
#define PWM2B        3


// The main purpose of this class is to override setOutputPins to work with Adafruit Motor Shield
class AFMotorShield : public AccelStepper
{
  public:
  AFMotorShield(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5); 

  virtual void   setOutputPins(uint8_t mask);
};


AFMotorShield::AFMotorShield(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4)
    : AccelStepper(interface, pin1, pin2, pin3, pin4) 
{
    // Enable motor control serial to parallel latch
    pinMode(MOTORLATCH, OUTPUT);
    pinMode(MOTORENABLE, OUTPUT);
    pinMode(MOTORDATA, OUTPUT);
    pinMode(MOTORCLK, OUTPUT);
    digitalWrite(MOTORENABLE, LOW);
    
    // enable both H bridges on motor 1
    pinMode(PWM2A, OUTPUT);
    pinMode(PWM2B, OUTPUT);
    pinMode(PWM0A, OUTPUT);
    pinMode(PWM0B, OUTPUT);
    digitalWrite(PWM2A, HIGH);
    digitalWrite(PWM2B, HIGH);
    digitalWrite(PWM0A, HIGH);
    digitalWrite(PWM0B, HIGH);

    setOutputPins(0); // Reset
};
    
// Use the AF Motor Shield serial-to-parallel to set the state of the motor pins
// Caution: the mapping of AccelStepper pins to AF motor outputs is not
// obvious:
// AccelStepper     Motor Shield output
// pin1                M4A
// pin2                M1A
// pin3                M2A
// pin4                M3A
// Caution this is pretty slow and limits the max speed of the motor to about 500/3 rpm
void AFMotorShield::setOutputPins(uint8_t mask)
{
  uint8_t i;
  
  digitalWrite(MOTORLATCH, LOW);
  digitalWrite(MOTORDATA, LOW);

  for (i=0; i<8; i++) 
  {
    digitalWrite(MOTORCLK, LOW);

    if (mask & _BV(7-i))
      digitalWrite(MOTORDATA, HIGH);
    else
      digitalWrite(MOTORDATA, LOW);
 
    digitalWrite(MOTORCLK, HIGH);
  }
  digitalWrite(MOTORLATCH, HIGH);
}

AFMotorShield stepper(AccelStepper::HALF3WIRE, 0, 0, 0, 0); // 3 phase HDD spindle drive

void setup()
{  
   stepper.setMaxSpeed(500);	// divide by 3 to get rpm
   stepper.setAcceleration(80);
   stepper.moveTo(10000000);	
}

void loop()
{  
   stepper.run();
}

8 MultiStepper

演示多电机同时控制

// MultiStepper.pde
// -*- mode: C++ -*-
//
// Shows how to multiple simultaneous steppers
// Runs one stepper forwards and backwards, accelerating and decelerating
// at the limits. Runs other steppers at the same time
//
// Copyright (C) 2009 Mike McCauley
// $Id: MultiStepper.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

// Define some steppers and the pins the will use
AccelStepper stepper1; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
AccelStepper stepper2(AccelStepper::FULL4WIRE, 6, 7, 8, 9);
AccelStepper stepper3(AccelStepper::FULL2WIRE, 10, 11);

void setup()
{  
    stepper1.setMaxSpeed(200.0);
    stepper1.setAcceleration(100.0);
    stepper1.moveTo(24);
    
    stepper2.setMaxSpeed(300.0);
    stepper2.setAcceleration(100.0);
    stepper2.moveTo(1000000);
    
    stepper3.setMaxSpeed(300.0);
    stepper3.setAcceleration(100.0);
    stepper3.moveTo(1000000); 
}

void loop()
{
    // Change direction at the limits
    if (stepper1.distanceToGo() == 0)
	stepper1.moveTo(-stepper1.currentPosition());
    stepper1.run();
    stepper2.run();
    stepper3.run();
}

9  MultiStepper

使用 MultiStepper类管理多个电机，使它们移动到相同的位置在相同的时间，达到二维或三维的运动
 

// MultiStepper.pde
// -*- mode: C++ -*-
// Use MultiStepper class to manage multiple steppers and make them all move to 
// the same position at the same time for linear 2d (or 3d) motion.

#include 
#include 

// EG X-Y position bed driven by 2 steppers
// Alas its not possible to build an array of these with different pins for each :-(
AccelStepper stepper1(AccelStepper::FULL4WIRE, 2, 3, 4, 5);
AccelStepper stepper2(AccelStepper::FULL4WIRE, 8, 9, 10, 11);

// Up to 10 steppers can be handled as a group by MultiStepper
MultiStepper steppers;

void setup() {
  Serial.begin(9600);

  // Configure each stepper
  stepper1.setMaxSpeed(100);
  stepper2.setMaxSpeed(100);

  // Then give them to MultiStepper to manage
  steppers.addStepper(stepper1);
  steppers.addStepper(stepper2);
}

void loop() {
  long positions[2]; // Array of desired stepper positions
  
  positions[0] = 1000;
  positions[1] = 50;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition(); // Blocks until all are in position
  delay(1000);
  
  // Move to a different coordinate
  positions[0] = -100;
  positions[1] = 100;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition(); // Blocks until all are in position
  delay(1000);
}

10  Overshoot

检查超调处理，它设置一个新的目标位置，然后等待，直到步进电机实现它。这用于测试超调的处理（overshoot 过冲，超调？）

// Overshoot.pde
// -*- mode: C++ -*-
//
// Check overshoot handling
// which sets a new target position and then waits until the stepper has 
// achieved it. This is used for testing the handling of overshoots
//
// Copyright (C) 2009 Mike McCauley
// $Id: Overshoot.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

void setup()
{  
  stepper.setMaxSpeed(150);
  stepper.setAcceleration(100);
}

void loop()
{    
  stepper.moveTo(500);
  while (stepper.currentPosition() != 300) // Full speed up to 300
    stepper.run();
  stepper.runToNewPosition(0); // Cause an overshoot then back to 0
}

11  ProportionalControl

让一个步进电机跟随从一个旋钮中读取的模拟值，或者步进电机将根据旋钮中的值以恒定的速度移动到每个新设置的位置。
 

// ProportionalControl.pde
// -*- mode: C++ -*-
//
// Make a single stepper follow the analog value read from a pot or whatever
// The stepper will move at a constant speed to each newly set posiiton, 
// depending on the value of the pot.
//
// Copyright (C) 2012 Mike McCauley
// $Id: ProportionalControl.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

// This defines the analog input pin for reading the control voltage
// Tested with a 10k linear pot between 5v and GND
#define ANALOG_IN A0

void setup()
{  
  stepper.setMaxSpeed(1000);
}

void loop()
{
  // Read new position
  int analog_in = analogRead(ANALOG_IN);
  stepper.moveTo(analog_in);
  stepper.setSpeed(100);
  stepper.runSpeedToPosition();
}

12 Quickstop

查看停止处理。当步进电机全速运行时调用stop()，使步进电机在当前加速度的约束下尽可能快地停止。

// Quickstop.pde
// -*- mode: C++ -*-
//
// Check stop handling.
// Calls stop() while the stepper is travelling at full speed, causing
// the stepper to stop as quickly as possible, within the constraints of the
// current acceleration.
//
// Copyright (C) 2012 Mike McCauley
// $Id:  $

#include 

// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

void setup()
{  
  stepper.setMaxSpeed(150);
  stepper.setAcceleration(100);
}

void loop()
{    
  stepper.moveTo(500);
  while (stepper.currentPosition() != 300) // Full speed up to 300
    stepper.run();
  stepper.stop(); // Stop as fast as possible: sets new target
  stepper.runToPosition(); 
  // Now stopped after quickstop

  // Now go backwards
  stepper.moveTo(-500);
  while (stepper.currentPosition() != 0) // Full speed basck to 0
    stepper.run();
  stepper.stop(); // Stop as fast as possible: sets new target
  stepper.runToPosition(); 
  // Now stopped after quickstop

}

13 Random

使单个步进电机执行速度、位置和加速度的随机变化

// Random.pde
// -*- mode: C++ -*-
//
// Make a single stepper perform random changes in speed, position and acceleration
//
// Copyright (C) 2009 Mike McCauley
// $Id: Random.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $

#include 

// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5

void setup()
{  
}

void loop()
{
    if (stepper.distanceToGo() == 0)
    {
	// Random change to speed, position and acceleration
	// Make sure we dont get 0 speed or accelerations
	delay(1000);
	stepper.moveTo(rand() % 200);
	stepper.setMaxSpeed((rand() % 200) + 1);
	stepper.setAcceleration((rand() % 200) + 1);
    }
    stepper.run();
}