关于Arduino驱动步进电机驱动器控制步进电机导致电机跑飞问题 -

void System_IO_Init()
{
pinMode(DIR_pin, OUTPUT);
pinMode(DIR2_pin, OUTPUT);
pinMode(DIR3_pin, OUTPUT);
pinMode(PUL_pin, OUTPUT);
pinMode(PUL2_pin, OUTPUT);
pinMode(PUL3_pin, OUTPUT);
pinMode(ENA_pin, OUTPUT);
pinMode(ENA2_pin, OUTPUT);
pinMode(ENA3_pin, OUTPUT);
pinMode(STOPPER_x_pin, INPUT_PULLUP);
pinMode(STOPPER_x_2_pin, INPUT_PULLUP);
pinMode(STOPPER_y_pin, INPUT_PULLUP);
pinMode(STOPPER_y_2_pin, INPUT_PULLUP);
pinMode(STOPPER_z_pin, INPUT_PULLUP);
digitalWrite( DIR_pin, HIGH); //HIGH 左 x轴
digitalWrite( ENA_pin, LOW);
digitalWrite( DIR2_pin, HIGH); //HIGH 左
digitalWrite( ENA2_pin, LOW);
digitalWrite( DIR3_pin, HIGH); //HIGH 左
digitalWrite( ENA3_pin, LOW);
}
void Timer_Init()
{
cli();////关闭全局中断
//Timer 1
//设置定时器1为1kHz
TCCR1A = 0;//将整个TCCR1A寄存器设置为0
TCCR1B = 0;//将整个TCCR1B寄存器设置为0
TCNT1 = 0;//将计数器值初始化为0
//设置计数器为10kHZ，即1ms
OCR1A = 19;// = (16*10^6)/(1000*8) - 1 (must be <65536)
TCCR1B |= (1 << WGM12);//打开CTC模式
TCCR1B |= (1 << CS11);//设置CS11位为1(8倍预分频)
TIMSK1 |= (1 << OCIE1A);
//Timer 3
//设置定时器3为1kHz
TCCR3A = 0;//将整个TCCR1A寄存器设置为0
TCCR3B = 0;//将整个TCCR1B寄存器设置为0
TCNT3 = 0;//将计数器值初始化为0
//设置计数器为10kHZ，即1ms
OCR3A = 19;// = (16*10^6)/(1000*8) - 1 (must be <65536)
TCCR3B |= (1 << WGM32);//打开CTC模式
TCCR3B |= (1 << CS31);//设置CS11位为1(8倍预分频)
TIMSK3 |= (1 << OCIE3A);
sei();//打开全局中断
}
void return_weizhi()
{
int test=1;
digitalWrite( DIR_pin, LOW); //HIGH 左 LOW 右
digitalWrite( DIR2_pin, LOW);
while(test)
{
while(((PINH & (B00100000)) == 32)||((PING & (B00100000)) == 32))
{
if((PINH & (B00100000)) == 32)
y_flag=1;
else
y_flag=0;
if((PING & (B00100000)) == 32)
x_flag=1;
else
x_flag=0;
// Serial.println("555");
if(((PINH & (B00100000)) == 0)&&((PING & (B00100000)) == 0))
{
delay(100);
// Serial.println("444");
if(((PINH & (B00100000)) == 0)&&((PING & (B00100000)) == 0))
{
delay(100);
if(((PINH & (B00100000)) == 0)&&((PING & (B00100000)) == 0))
{
x_flag=0;
y_flag=0;
x_pos=0;
y_pos=0;
Serial.println("{X000000-Y000000}");
test=0;
break;
}
}
}
}
test=0;
}
}
void setup() { // put your setup code here, to run once:
System_IO_Init();
Timer_Init();
Serial.begin(115200);
return_weizhi(); //系统返回原点
}
void SET_MOTOR_rotation(long num,long speed_motor) //设置固定转多少圈，用于测试
{
for(i=0;i<num;i++)
{
digitalWrite( PUL_pin, HIGH);
delayMicroseconds(speed_motor);
digitalWrite( PUL_pin, LOW);
delayMicroseconds(speed_motor);
}
}
ISR(TIMER1_COMPA_vect) //定时器1，用于触发x,y轴电机转动
{
//产生频率为1Hz / 2 = 0.5Hz的脉冲波（全波切换为两个周期，然后切换为低）
if(x_motor_en==1&&x_position<=11800)
{
if(time_pul1<x_position)
{
if(toggle1<15)
digitalWrite(PUL_pin,HIGH);
if(toggle1>=15)
digitalWrite(PUL_pin,LOW);
toggle1 += 1;
if((motor1_time_set>motor1_time)&&time_pul1%16==1) //加速
motor1_time_set-=1;
if(toggle1 > 15*2)
{
toggle1 = 0;
if(x_fangxiang)
x_pos++;
else
x_pos--;
time_pul1++;
}
}
else
{
pinMode(PUL_pin, INPUT_PULLUP);
time_pul1=0;
x_motor_en=0;
sdsf++;
reback_weizhi_flag=1;
}
}
if(x_flag==1&&(digitalRead(STOPPER_y_pin) == 1))
{
if(toggle1<30)
digitalWrite(PUL_pin,HIGH);
if(toggle1>=30)
digitalWrite(PUL_pin,LOW);
toggle1 += 1;
if(toggle1 > 30*2)
{
toggle1 = 0;
}
}
if(y_motor_en==1&&y_position<=11000)
{
if(time_pul2<y_position) //5.4cm 54mm
{
if(toggle2<15)
digitalWrite(PUL2_pin,HIGH);
if(toggle2>=15)
digitalWrite(PUL2_pin,LOW);
toggle2 += 1;
if((motor2_time_set>motor2_time)&&time_pul2%16==1) //加速
motor2_time_set-=1;
if(toggle2 > 15*2)
{
toggle2 = 0;
if(y_fangxiang)
y_pos++;
else
y_pos--;
time_pul2++;
}
}
else
{
pinMode(PUL2_pin, INPUT_PULLUP);
time_pul2=0;
y_motor_en=0;
sdsf++;
reback_weizhi_flag=1;
}
}
if(y_flag==1&&(digitalRead(STOPPER_x_pin) == 1))
{
if(toggle2<30)
digitalWrite(PUL2_pin,HIGH);
if(toggle2>=30)
digitalWrite(PUL2_pin,LOW);
toggle2 += 1;
if(toggle2 > 30*2)
{
toggle2 = 0;
}
}
}
ISR(TIMER3_COMPA_vect) //定时器3，用于触发z轴电机转动
{
// timer3中断1Hz切换引脚9
//产生频率为1Hz / 2 = 0.5Hz的脉冲波（全波切换为两个周期，然后切换为低）
if(z_motor_en==1&&z_position<=5000)
{
if(time_pul3<z_position) //5.4cm 54mm
{
// if(toggle3<15)
// digitalWrite(PUL3_pin,HIGH);
// if(toggle3>=15)
// digitalWrite(PUL3_pin,LOW);
// toggle3 += 1;
//
// if((motor2_time_set>motor2_time)&&time_pul3%16==1) //加速
// motor2_time_set-=1;
//
// if(toggle3 > 15*2)
// {
// toggle3 = 0;
// if(z_fangxiang)
// z_pos++;
// else
// z_pos--;
// time_pul3++;
// }
}
else
{
// time_pul3=0;
// z_motor_en=0;
// sdsf++;
// reback_weizhi_flag=1;
}
}
}
void goto_setposition(long x_now,long y_now)
{
/*
int x_position_pass=0; //上一次的x轴位置坐标
int y_position_pass=0; //上一次的y轴位置坐标
int x_position_now=0; //当前的x轴位置坐标
int y_position_now=0; //当前的y轴位置坐标
int x_position=10; //x轴位置坐标
int y_position=10; //z轴位置坐标
*/
if(x_now!=0)
{
x_position_now=x_now;
if(x_position_pass-x_position_now>0)
{
digitalWrite(DIR_pin,LOW); //设置方向
x_fangxiang=0;
x_position=x_position_pass-x_position_now; //计算步距
return_x_position=x_position;
x_position_pass=x_position_now;
x_motor_en=1;
}
else
{
digitalWrite(DIR_pin,HIGH); //设置方向
x_fangxiang=1;
x_position=x_position_now-x_position_pass; //计算步距
x_position_pass=x_position_now;
x_motor_en=1;
}
}
if(y_now!=0)
{
y_position_now=y_now;
if(y_position_pass-y_position_now>0)
{
digitalWrite(DIR2_pin,LOW); //设置方向
y_fangxiang=0;
y_position=y_position_pass-y_position_now; //计算步距
y_position_pass=y_position_now;
y_motor_en=1;
}
else
{
digitalWrite(DIR2_pin,HIGH); //设置方向
y_fangxiang=1;
y_position=y_position_now-y_position_pass; //计算步距
y_position_pass=y_position_now;
y_motor_en=1;
}
}
}
void sys_auto_move()
{
if(sdsf==2)
{
if(!switch_flag)
Location_label++;
else
Location_label--;
if(Location_label>12)
{
Location_label=12;
switch_flag=!switch_flag;
}
if(Location_label<1)
{
Location_label=1;
//////////////////////////////////////////
auto_manual_flag=0;
delay(1000);
delay(1000);
pinMode(PUL_pin, OUTPUT);
pinMode(PUL2_pin, OUTPUT);
return_weizhi();
x_position_now=0;
y_position_now=0;
x_position_pass=0;
y_position_pass=0;
x_pos=0;
y_pos=0;
Serial.print("{D0}\r\n");
delay(1000);
delay(1000);
delay(1000);
delay(1000);
auto_manual_flag=1;
auto_move_flag=1;
sdsf=0;
///////////////////////////////////////////////
switch_flag=!switch_flag;
cishu_cishu++;
}
sdsf=0;
auto_move_flag=1;
delay(1000);
delay(1000);
delay(1000);
delay(1000);
delay(1000);
}
if(auto_move_flag==1)
{
pinMode(PUL_pin, OUTPUT);
pinMode(PUL2_pin, OUTPUT);
switch(Location_label)
{
case 1: actual_weizhi=1;goto_setposition(1500,hang1);auto_move_flag=0; break;
case 2: actual_weizhi=2;goto_setposition(1500+1500,hang1); auto_move_flag=0;break;
case 3: actual_weizhi=3;goto_setposition(1500+1500*2,hang1); auto_move_flag=0;break;
case 4: actual_weizhi=4;goto_setposition(1500+1500*3,hang1); auto_move_flag=0;break;
case 8: actual_weizhi=5;goto_setposition(1500,hang2);auto_move_flag=0; break;
case 7: actual_weizhi=6;goto_setposition(1500+1500,hang2); auto_move_flag=0;break;
case 6: actual_weizhi=7;goto_setposition(1500+1500*2,hang2); auto_move_flag=0;break;
case 5: actual_weizhi=8;goto_setposition(1500+1500*3,hang2); auto_move_flag=0;break;
case 9: actual_weizhi=13;goto_setposition(1500,hang3);auto_move_flag=0; break;
case 10: actual_weizhi=14;goto_setposition(1500+1500,hang3); auto_move_flag=0;break;
case 11: actual_weizhi=15;goto_setposition(1500+1500*2,hang3); auto_move_flag=0;break;
case 12: actual_weizhi=16;goto_setposition(1500+1500*3,hang3); auto_move_flag=0;break;
}
}
}
void data_pro() //串口数据接受与处理
{
if(Serial.available()>0)
{
receive_buf[UART_RX_DATA_SIZE]=Serial.read();
if(receive_buf[UART_RX_DATA_SIZE]=='}')
{
UAER_RX_FLAG=1;
i_uart=0;
}
UART_RX_DATA_SIZE++;
}
else if(UAER_RX_FLAG)
{
UAER_RX_FLAG=0;
#if UART_DEBUG
Serial.println(receive_buf);
#endif
while(i_uart<UART_RX_DATA_SIZE)
{
if(receive_buf[i_uart]=='{') //{A0}
{
if(receive_buf[i_uart+1]=='A'&&receive_buf[i_uart+3]=='}') //收到上位机发送的HALLO指令
{
Serial.print("{B0}\r\n");
i_uart+=3;
}
else if(receive_buf[i_uart+1]=='C'&&receive_buf[i_uart+3]=='}') //全部軸歸回原點
{
pinMode(PUL_pin, OUTPUT);
pinMode(PUL2_pin, OUTPUT);
return_weizhi();
x_position_now=0;
y_position_now=0;
x_position_pass=0;
y_position_pass=0;
x_pos=0;
y_pos=0;
Serial.print("{D0}\r\n");
i_uart+=3;
}
else if(receive_buf[i_uart+1]=='E'&&receive_buf[i_uart+13]=='}') //{EX000400-010}
{
pinMode(PUL_pin, OUTPUT);
pinMode(PUL2_pin, OUTPUT);
if(receive_buf[i_uart+2]=='X')
{
x_position_uart=(receive_buf[i_uart+3]-'0')*100000+(receive_buf[i_uart+4]-'0')*10000+(receive_buf[i_uart+5]-'0')*1000+(receive_buf[i_uart+6]-'0')*100+(receive_buf[i_uart+7]-'0')*10+(receive_buf[i_uart+8]-'0');
#if UART_DEBUG
Serial.println(x_position_uart);
#endif
goto_setposition(x_position_uart,0);
Serial.print("{F0}\r\n");
}
else if(receive_buf[i_uart+2]=='Y')
{
y_position_uart=(receive_buf[i_uart+3]-'0')*100000+(receive_buf[i_uart+4]-'0')*10000+(receive_buf[i_uart+5]-'0')*1000+(receive_buf[i_uart+6]-'0')*100+(receive_buf[i_uart+7]-'0')*10+(receive_buf[i_uart+8]-'0');
#if UART_DEBUG
Serial.println(y_position_uart);
#endif
goto_setposition(0,y_position_uart);
Serial.print("{F0}\r\n");
}
i_uart+=13;
}
else if(receive_buf[i_uart+1]=='L'&&receive_buf[i_uart+4]=='}') //{L01}
{
int num=(receive_buf[i_uart+2]-'0')*10+(receive_buf[i_uart+3]-'0');
pinMode(PUL_pin, OUTPUT);
pinMode(PUL2_pin, OUTPUT);
switch(num)
{
case 1: actual_weizhi=1;goto_setposition(1500,hang1);auto_move_flag=0; break;
case 2: actual_weizhi=2;goto_setposition(1500+1500,hang1); auto_move_flag=0;break;
case 3: actual_weizhi=3;goto_setposition(1500+1500*2,hang1); auto_move_flag=0;break;
case 4: actual_weizhi=4;goto_setposition(1500+1500*3,hang1); auto_move_flag=0;break;
case 5: actual_weizhi=5;goto_setposition(1500,hang2);auto_move_flag=0; break;
case 6: actual_weizhi=6;goto_setposition(1500+1500,hang2); auto_move_flag=0;break;
case 7: actual_weizhi=7;goto_setposition(1500+1500*2,hang2); auto_move_flag=0;break;
case 8: actual_weizhi=8;goto_setposition(1500+1500*3,hang2); auto_move_flag=0;break;
case 9: actual_weizhi=13;goto_setposition(1500,hang3);auto_move_flag=0; break;
case 10: actual_weizhi=14;goto_setposition(1500+1500,hang3); auto_move_flag=0;break;
case 11: actual_weizhi=15;goto_setposition(1500+1500*2,hang3); auto_move_flag=0;break;
case 12: actual_weizhi=16;goto_setposition(1500+1500*3,hang3); auto_move_flag=0;break;
}
i_uart+=4;
}
else if(receive_buf[i_uart+1]=='M'&&receive_buf[i_uart+3]=='}') //{M0}
{
if(receive_buf[i_uart+2]=='1')
{
auto_manual_flag=1;
auto_move_flag=1;
sdsf=0;
Serial.println("auto_mode");
}
else
{
auto_manual_flag=0;
}
i_uart+=3;
}
else if(receive_buf[i_uart+1]=='F'&&receive_buf[i_uart+8]=='}') //{F0_2500} 设定相机焦距
{
//步进值 16位
//左右旋转标志位 Direction_flag
direction_flag=receive_buf[i_uart+2]-0x30;
Serial.println(direction_flag);
focal_step_value=(receive_buf[i_uart+4]-0x30)*1000+(receive_buf[i_uart+5]-0x30)*100+(receive_buf[i_uart+6]-0x30)*10+(receive_buf[i_uart+7]-0x30);
focal_step_value=focal_step_value/10;
Serial.println(focal_step_value);
z_motor_en=1;
if(direction_flag==0)
{
z_position=focal_step_value;
digitalWrite(DIR3_pin,HIGH);
}
else if(direction_flag==1)
{
z_position=focal_step_value;
digitalWrite(DIR3_pin,LOW);
}
i_uart+=8;
}
}
i_uart++;
}
for(i=0;i<UART_RX_DATA_SIZE;i++)
receive_buf[i]=' ';
UART_RX_DATA_SIZE=0;
}
}
void loop()
{
data_pro();
// if(digitalRead(STOPPER_x_pin)==1)
// Serial.println("111");
// else
// Serial.println("222");
if(auto_manual_flag)
{
sys_auto_move();
}
if(reback_weizhi_flag)
{
sprintf(weizhi_data,"{X%06ld-Y%06ld-L%02d}",x_pos,y_pos,actual_weizhi);
Serial.println(weizhi_data);
reback_weizhi_flag=0;
}
delay(100);
}

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