通过arduino 控制 Arduino CNC 拓展板驱动42步步进电机，通过红外遥控以及蓝摇a'...

ID:670217 · 发表于 2019-12-22 00:13

本帖最后由 L_L 于 2019-12-29 00:10 编辑

/*
* Date：2019/12/20
* Content：HC-05 or Ir control Stepper motor
* Author : L.L
*/

#include <IRremote.h>
#define EN 8 //步进电机使能端，低电平有效
#define X_DIR 5 //X轴步进电机方向控制
#define Y_DIR 6 //y轴步进电机方向控制
#define Z_DIR 7 //z轴步进电机方向控制
#define A_DIR 13 //A轴步进电机方向控制
#define X_STP 2 //x轴步进控制
#define Y_STP 3 //y轴步进控制
#define Z_STP 4 //z轴步进控制
#define A_STP 12 //z轴步进控制

#define LEN 8 //缓冲区长度，建议大于5
unsigned int keyVal = 8;//按键的值，弹起不会变0（1-8）
unsigned int rockerVal = 521;//摇杆的值，停下变0xff 0xff（0-360）
unsigned int seekBarVal = 50;//滑块的值（0-100）

int RECV_PIN = 11;
IRrecv irrecv(RECV_PIN);
decode_results results;

unsigned long results_value = 0;

unsigned long Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag3 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
unsigned long Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;

unsigned long flag0 = 0,flag1 = 0,flag2 = 0,flag3 = 0,flag4 = 0,flag5 = 0,flag6 = 0;

void Rocker_Data_Analyze(unsigned char *str,unsigned char len)
{
  if(str[0] == 'y')
  {
switch(str[1])
{
   case 'd':
      rockerVal = str[2] + str[3];
      XY_judge();
      //Serial.println(rockerVal);
      break;
   case 'b':
      keyVal = str[2];
      //Serial.println(keyVal);
      break;
   case 'v':
      seekBarVal = str[2];
      //Serial.println(seekBarVal);
      Z_judge();
      break;
   default :break;
}
  }
}

void Uart_Receive(unsigned char cha)
{
  static unsigned char str[8];
  static unsigned char sta = 0;
  if((sta & 0x80) == 0)
  {
if(sta & 0x40)
{
   if(cha != 0x0D)
   {
      sta = 0;
   }
   else
   {
      sta |= 0x80;
      sta <<= 2;
      sta >>= 2;
      Rocker_Data_Analyze(str,sta);
      sta = 0;
   }
}
else
{
   if(cha == 0x0A)
   {
      sta |= 0x40;
   }
   else
   {
      str[sta & 0x3F] = cha;
      sta++;
      if(sta > (LEN - 1))
      {
      sta = 0;
      }
   }
}

  }
}

/*
//函数：step 功能：控制步进电机方向，步数。
//参数：dir 方向控制, dirPin对应步进电机的DIR引脚，stepperPin 对应步进电机的step引脚， steps 步进的步数
//无返回值
*/
void step(boolean dir, byte dirPin, byte stepperPin, unsigned long int steps,unsigned int TIME)
{
  digitalWrite(dirPin,dir);//dir为true 则dirPin引脚输出高电平，dir为false则dirPin引脚输出低电平
  //delay(50);

  for (unsigned long int i = 0; i < steps; i++) //脉冲信号需<1kHz
  {
judge();
digitalWrite(stepperPin, HIGH);//stepperPin引脚输出高电平
delayMicroseconds(TIME);//延时300us

digitalWrite(stepperPin, LOW);//stepperPin引脚输出高电平
delayMicroseconds(TIME);
  }
}

void setup()
{ //将步进电机用到的IO管脚设置成输出
  Serial.begin(9600);//设置串口波特率为9600
  irrecv.enableIRIn(); // Start the receiver
  pinMode(X_DIR, OUTPUT); pinMode(X_STP, OUTPUT);
  pinMode(Y_DIR, OUTPUT); pinMode(Y_STP, OUTPUT);
  pinMode(Z_DIR, OUTPUT); pinMode(Z_STP, OUTPUT);
  pinMode(A_DIR, OUTPUT); pinMode(A_STP, OUTPUT);
  pinMode(EN, OUTPUT);
  digitalWrite(EN, LOW);//使能
}

void Stop()//停止转动
{
  while(1)
  {//X,Y,Z,A步进引脚均输出低电平
digitalWrite(X_STP, LOW);
digitalWrite(Y_STP, LOW);
digitalWrite(Z_STP, LOW);
digitalWrite(A_STP, LOW);
judge();
  }
}

void XY_Stop()//停止转动
{
  while(1)
  {//X,Y步进引脚均输出低电平
digitalWrite(X_STP, LOW);
digitalWrite(Y_STP, LOW);
digitalWrite(A_STP, LOW);
judge();
  }
}

void Z_Stop()//停止转动
{
  while(1)
  {//Z轴停止运动
digitalWrite(Z_STP, LOW);
judge();
  }
}

void XY_judge()
{
if((((rockerVal >= 0) && (rockerVal <= 30)) || ((rockerVal >= 330) && (rockerVal < 360))) && (flag0 == 0))
{
   flag1 = flag2 = flag3 = flag4 = flag5 = flag6 = 0;
   flag0++;
   if(flag0 > 60000) flag0 = 1;
   Serial.print("X+");Serial.print('\t');Serial.print("Speed:");Serial.println(900 - keyVal * 100);
   step(true, X_DIR, X_STP, 160000,900 - keyVal * 100);
}
if(((rockerVal >= 60) && (rockerVal<= 120))&& (flag1 == 0))
{
   flag0 =flag2 = flag3 = flag4 = flag5 = flag6 = 0;
   flag1++;
   if(flag1 > 60000) flag1 = 1;
   Serial.print("Y- and A-");Serial.print('\t');Serial.print("Speed:");Serial.println(900 - keyVal * 100);
   step(false, Y_DIR, Y_STP, 160000,900 - keyVal * 100);
}
if(((rockerVal >= 150) && (rockerVal<= 210)) && (flag2 == 0))
{
   flag0 = flag1 = flag3 = flag4 = flag5 = flag6 = 0;
   flag2++;
   if(flag2 > 60000) flag2 = 1;
   Serial.print("X-");Serial.print('\t');Serial.print("Speed:");Serial.println(900 - keyVal * 100);
   step(false, X_DIR, X_STP, 160000,900 - keyVal * 100);
}
if(((rockerVal >= 240) && (rockerVal<= 300))&& (flag3 == 0))
{
   flag0 = flag1 =flag2 = flag4 = flag5 = flag6 = 0;
   flag3++;
   if(flag3 > 60000) flag3 = 1;
   Serial.print("Y+ and A+");Serial.print('\t');Serial.print("Speed:");Serial.println(900 - keyVal * 100);
   step(true, Y_DIR, Y_STP, 160000,900 - keyVal * 100);
}

if((rockerVal == 510) && (flag4 == 0))
{
   flag0 = flag1 =flag2 = flag3 = flag5 = flag6 = 0;
   flag4++;
   if(flag4 > 60000)  flag4 = 1;
   Serial.println("XY_Stop");
   XY_Stop();
}

}

void Z_judge()
{
if((seekBarVal >= 0) && (seekBarVal <= 25))
{
   flag0 = flag1 =flag2 = flag3 = flag4 = flag5 = flag6 = 0;
   Serial.println("Z-");
   //Serial.println(seekBarVal);
   step(false, Z_DIR, Z_STP, 80000,150);
}
if((seekBarVal >= 75) && (seekBarVal <= 100))
{
   flag0 = flag1 =flag2 = flag3 = flag4 = flag5 = flag6 = 0;
   Serial.println("Z+");
   //Serial.println(seekBarVal);
   step(true, Z_DIR, Z_STP, 80000,150);
}

if(((seekBarVal > 25) && (seekBarVal < 75)) && (flag5 == 0))
{
   flag0 = flag1 = flag2 = flag3 = flag4 = flag6 = 0;
   flag5++;
   if(flag5 > 60000)flag5 = 1;
   Serial.println("Z_Stop");
   Z_Stop();
}

}

void loop()//死循环
{
  judge();
}

void BT_judge()
{
  while(Serial.available())//若检测到串口有数据，则进入循环
  {
char data = Serial.read();//读取串口数据
Uart_Receive(data);
  }
}

void IR_judge()
{
if (irrecv.decode(&results))
  {
//Serial.println(results.value, HEX);
results.value = results.value;
switch(results.value)
{
   case 0xFFC23D:
                  if(Flag0 == 0)
                  {
                  Flag1 = 0,Flag2 = 0,Flag3 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag0++;
                  if(Flag0 >60000) Flag0 = 1;
                  Serial.println("STOP");
                  Stop();
                  }
                  break;

   case 0xFF02FD:
                  if(Flag1 == 0)
                  {
                  Flag0 = 0,Flag2 = 0,Flag3 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag1++;
                  if(Flag1 >60000) Flag1 = 1;
                  Serial.println("X+");
                  step(true, X_DIR, X_STP, 160000,300);
                  }
                  break;
   case 0xFF5AA5:
                  if(Flag2 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag3 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag2++;
                  if(Flag2 >60000) Flag2 = 1;
                  Serial.println("X++");
                  step(true, X_DIR, X_STP, 160000,200);
                  }

                  break;
   case 0xFF30CF:
                  if(Flag3 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag3++;
                  if(Flag3 >60000) Flag3 = 1;
                  Serial.println("X+++");
                  step(true, X_DIR, X_STP, 160000,100);
                  }

                  break;

   case 0xFF22DD:
                  if(Flag4 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag3 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag4++;
                  if(Flag4 >60000) Flag4 = 1;
                  Serial.println("X-");
                  step(false, X_DIR, X_STP, 160000,300);
                  }

                  break;
   case 0xFF10EF:
                  if(Flag5 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag3 = 0,Flag4 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag5++;
                  if(Flag5 >60000) Flag5 = 1;
                  Serial.println("X--");
                  step(false, X_DIR, X_STP, 160000,200);
                  }

                  break;
   case 0xFF7A85:
                  if(Flag6 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag3 = 0,Flag4 = 0,Flag5 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag6++;
                  if(Flag6 >60000) Flag6 = 1;
                  Serial.println("X---");
                  step(false, X_DIR, X_STP, 160000,100);
                  }

                  break;

   case 0xFFA857:
                  if(Flag7 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag3 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag7++;
                  if(Flag7 >60000) Flag7 = 1;
                  Serial.println("Y+ and A+");
                  step(true, Y_DIR, Y_STP, 160000,300);
                  }

                  break;
   case 0xFF18E7:
                  if(Flag8 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag3 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag8++;
                  if(Flag8 >60000) Flag8 = 1;
                  Serial.println("Y++ and A++");
                  step(true, Y_DIR, Y_STP, 160000,200);
                  }

                  break;
   case 0xFF42BD:
                  if(Flag9 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag3 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag9++;
                  if(Flag9 >60000) Flag9 = 1;
                  Serial.println("Y+++ and A+++");
                  step(true, Y_DIR, Y_STP, 160000,100);
                  }

                  break;

   case 0xFFE01F:
                  if(Flag10 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag3 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag10++;
                  if(Flag10 >60000) Flag10 = 1;
                  Serial.println("Y- and A-");
                  step(false, Y_DIR, Y_STP, 160000,300);
                  }

                  break;
   case 0xFF4AB5:
                  if(Flag11 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag3 = 0,Flag12 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag11++;
                  if(Flag11 >60000) Flag11 = 1;
                  Serial.println("Y-- and A--");
                  step(false, Y_DIR, Y_STP, 160000,200);
                  }

                  break;
   case 0xFF52AD:
                  if(Flag12 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag3 = 0,Flag13 = 0,Flag14 = 0,Flag15 = 0;
                  Flag12++;
                  if(Flag12 >60000) Flag12 = 1;
                  Serial.println("Y--- and A---");
                  step(false, Y_DIR, Y_STP, 160000,100);
                  }

                  break;

   case 0xFFE21D:
                  if(Flag13 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag3 = 0,Flag14 = 0,Flag15 = 0;
                  Flag13++;
                  if(Flag13 >60000) Flag13 = 1;
                  Serial.println("Z++");
                  step(true, Z_DIR, Z_STP, 160000,150);
                  }

                  break;
   case 0xFFA25D:
                  if(Flag14 == 0)
                  {
                  Flag0 = 0,Flag1 = 0,Flag2 = 0,Flag4 = 0,Flag5 = 0,Flag6 = 0,Flag7 = 0;
                  Flag8 = 0,Flag9 = 0,Flag10 = 0,Flag11 = 0,Flag12 = 0,Flag13 = 0,Flag3 = 0,Flag15 = 0;
                  Flag14++;
                  if(Flag14 >60000) Flag14 = 1;
                  Serial.println("Z--");
                  step(false, Z_DIR, Z_STP, 160000,150);
                  }

                  break;

   default :break;
}
irrecv.resume(); // Receive the next value
  }
}

void judge()
{
   if(Serial.available())
{
      BT_judge();
}
else
{
      IR_judge();
}
}

ID:709180 · 发表于 2020-3-26 04:47

没人试试吗？

ID:185255 · 发表于 2020-4-13 19:45

楼主用的步进电机型号能不能发出来看看啊

ID:670217 · 发表于 2021-6-6 01:15

利维亚的工程师发表于 2020-4-13 19:45
楼主用的步进电机型号能不能发出来看看啊

42步进电机

ID:1094297 · 发表于 2023-9-22 23:24

Arduino:1.8.19 (Windows 10), 开发板："WEMOS D1 MINI ESP32, 80MHz, Default, 240MHz (WiFi/BT), 921600, None, Disabled"

sketch_sep22a:7:10: fatal error: IRremote.h: No such file or directory

#include <IRremote.h>

^~~~~~~~~~~~

compilation terminated.

exit status 1

IRremote.h: No such file or directory

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通过arduino 控制 Arduino CNC 拓展板驱动42步步进电机，通过红外遥控以及蓝摇a'...

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