PIC单片机-步进电机的正转与反转

2019-11-06 07:44:15

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PIC步进电机原理图： PIC单片机步进电机原理图

一、步进电机单双八拍正转

步进电动机是一种将电脉冲信号转换成角位移或线位移的机电元件。步进电动机的输入量是脉冲序列，输出量则为相应的增量位移或步进运动。正常运动情况下，它每转一周具有固定的步数；做连续步进运动时，其旋转转速与输入脉冲的频率保持严格的对应关系，不受电压波动和负载变化的影响。

本程序采用单双八拍工作方式：A-AB-B-BC-C-CD-D-DA (即一个脉冲,转 3.75 度)。

如要实现电机反转，只要更改脉冲方向即可。可更改为：D-CD-C-BC-B-AB-A-DA。

#include <htc.h>#define uint8 unsigned char#define uint16 unsigned int__CONFIG(WDTDIS & LVPDIS & HS & PWRTDIS & BORDIS);//设置配置位//WDTDIS:disable watchdog timer//LVPDIS:low voltage PRogramming disabled//HS:high speed crystal/resonator//PWRTDIS:disable power up timer//BORDIS:disable brown out reset#define F1 RB5#define F2 RB4#define F3 RB3#define F4 RB2/***************************定义全局变量***************************************/#define Speed 2 //速度，可以调节volatile uint8 MotorStep = 0,count =0,coun =0 ;volatile uint8 time_flag = 0;/***************************函数声明***************************************/void SetMotor(void);void InitMotor(void);/******************************************************************************** 函数名: InitMotor(void* 函数功能: 马达初始化* 入口参数: 无* 返回: 无*******************************************************************************/void InitMotor(void){ F1 = 1; F2 = 1; F3 = 1; F4 = 1;}/******************************************************************************** 函数名: SetMotor(void)* 函数功能: 马达八拍运行* 入口参数: 无* 返回: 无*******************************************************************************/ void SetMotor(void){ switch(MotorStep) { case 0: // A if(time_flag) { F1 = 0; F2 = 1; F3 = 1; F4 = 1; MotorStep = 1; time_flag = 0; } break; case 1: // AB if(time_flag ==1) { F1 = 0; F2 = 0; F3 = 1; F4 = 1; MotorStep = 2; time_flag = 0; } break; case 2: //B if(time_flag ==1) { F1 = 1; F2 = 0; F3 = 1; F4 = 1; MotorStep = 3; time_flag = 0; } break; case 3: //BC if(time_flag ==1) { F1 = 1; F2 = 0; F3 = 0; F4 = 1; MotorStep = 4; time_flag = 0; } break; case 4: //C if(time_flag ==1) { F1 = 1; F2 = 1; F3 = 0; F4 = 1; MotorStep = 5; time_flag = 0; } break; case 5: //CD if(time_flag ==1) { F1 = 1; F2 = 1; F3 = 0; F4 = 0; MotorStep = 6; time_flag = 0; } break; case 6: //D if(time_flag ==1) { F1 = 1; F2 = 1; F3 = 1; F4 = 0; MotorStep = 7; time_flag = 0; } break; case 7: //DA if(time_flag ==1) { F1 = 0; F2 = 1; F3 = 1; F4 = 0; MotorStep = 0; time_flag = 0; coun++; if(coun>= 64) { coun = 0; } } break; default:break; }}/******************************************************************************* 函数名: main()* 函数功能: 单双八拍* 入口参数: 无* 返回: 无*******************************************************************************/void main(){ TRISB = 0x00; T1CON = 0x08; TMR1H = (65535-5*500)/256; //65535-500*5 0.5毫秒延时 TMR1L = (65535-5*500)%256; TMR1IE = 1; TMR1IF = 0; PEIE = 1; GIE = 1; TMR1ON = 1; InitMotor(); while(1) { SetMotor(); } }/******************************************************************************* 函数名: interrupt Capture(void)* 函数功能: 中断函数* 入口参数: 无* 返回: 无*******************************************************************************/void interrupt ISR(void){ if(TMR1IF == 1) { TMR1ON = 0; TMR1IE = 0; TMR1IF = 0; count++; if(count >= Speed) { time_flag = 1; count = 0; } TMR1H = (65535-5*500)/256; TMR1L = (65535-5*500)%256; TMR1IE = 1; TMR1ON = 1; }}

二、实现步进电机的反转

#include <htc.h>#define uint8 unsigned char#define uint16 unsigned int__CONFIG(FOSC_HS &WDTE_OFF &BOREN_OFF &PWRTE_OFF &LVP_OFF); //设置配置位//WDTE_OFF:disable watchdog timer 看门狗禁止//LVP_OFF:low voltage programming disabled 低电压编程禁止//FOSC_HS:high speed crystal/resonator 4M以上晶振选择HS高速//PWRTDIS:disable power up timer//BOREN_OFF:disable brown out reset#define F1 RB2#define F2 RB3#define F3 RB4#define F4 RB5/***************************定义全局变量***************************************/#define Speed 2 //速度，可以调节volatile uint8 MotorStep = 0, count = 0 ;volatile uint8 time_flag = 0;/***************************函数声明***************************************/void SetMotor(void);void InitMotor(void);/******************************************************************************** 函数名: InitMotor(void* 函数功能: 马达初始化* 入口参数: 无* 返回: 无*******************************************************************************/void InitMotor(void){ F1 = 1; F2 = 1; F3 = 1; F4 = 1;}/******************************************************************************** 函数名: SetMotor(void)* 函数功能: 马达八拍运行* 入口参数: 无* 返回: 无*******************************************************************************/void SetMotor(void){ switch(MotorStep) { case 0: // D if(time_flag) { F1 = 0; F2 = 1; F3 = 1; F4 = 1; MotorStep = 1; time_flag = 0; } break; case 1: // CD if(time_flag == 1) { F1 = 0; F2 = 0; F3 = 1; F4 = 1; MotorStep = 2; time_flag = 0; } break; case 2: //CC if(time_flag == 1) { F1 = 1; F2 = 0; F3 = 1; F4 = 1; MotorStep = 3; time_flag = 0; } break; case 3: // BC if(time_flag == 1) { F1 = 1; F2 = 0; F3 = 0; F4 = 1; MotorStep = 4; time_flag = 0; } break; case 4: // B if(time_flag == 1) { F1 = 1; F2 = 1; F3 = 0; F4 = 1; MotorStep = 5; time_flag = 0; } break; case 5: // AB if(time_flag == 1) { F1 = 1; F2 = 1; F3 = 0; F4 = 0; MotorStep = 6; time_flag = 0; } break; case 6: // A if(time_flag == 1) { F1 = 1; F2 = 1; F3 = 1; F4 = 0; MotorStep = 7; time_flag = 0; } break; case 7: // DA if(time_flag == 1) { F1 = 0; F2 = 1; F3 = 1; F4 = 0; MotorStep = 0; time_flag = 0; } break; default: break; }}/******************************************************************************* 函数名: main()* 函数功能: 单双八拍* 入口参数: 无* 返回: 无*******************************************************************************/void main(){ TRISB = 0x00; T1CON = 0x08; TMR1H = (65535 - 5 * 500) / 256; //65535-500*5 0.5毫秒延时 TMR1L = (65535 - 5 * 500) % 256; TMR1IE = 1; TMR1IF = 0; PEIE = 1; GIE = 1; TMR1ON = 1; InitMotor(); while(1) { SetMotor(); }}/******************************************************************************* 函数名: interrupt Capture(void)* 函数功能: 中断函数* 入口参数: 无* 返回: 无*******************************************************************************/void interrupt ISR(void){ if(TMR1IF == 1) { TMR1ON = 0; TMR1IE = 0; TMR1IF = 0; count++; if(count >= Speed) { time_flag = 1; count = 0; } TMR1H = (65535 - 5 * 500) / 256; TMR1L = (65535 - 5 * 500) % 256; TMR1IE = 1; TMR1ON = 1; }}

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