ESP32（MicroPython）步进电机调速

不同于常见的步进电机调速程序，本程序实现了更多级调速并且提供了毫秒延时与微秒延时的切换（KEY4），由于本人使用的步进电机（28BYJ48）最少使用600微秒延时（使用500微秒延时不能正常运行），微秒延时做成最短600微秒。另外，毫秒延时最多46毫秒。

代码如下

'''

接线说明：电机模块-->ESP32 IO

(IN1-IN4)-->(15,2,0,4)

电机模块输出-->28BYJ-48步进电机

(5V)-->红线

(O1)-->依次排序

按键模块-->ESP32 IO

(K1-K4)-->(14,27,26,25)

按键功能：KEY1切换正反转，KEY2加速，KEY3减速，KEY4切换高、低速模式

'''

#导入Pin模块

from machine import Pin

import time

#定义按键控制对象

key1=Pin(14,Pin.IN,Pin.PULL_UP)

key2=Pin(27,Pin.IN,Pin.PULL_UP)

key3=Pin(26,Pin.IN,Pin.PULL_UP)

key4=Pin(25,Pin.IN,Pin.PULL_UP)

#定义步进电机控制对象

motor_a=Pin(15,Pin.OUT,Pin.PULL_DOWN)

motor_b=Pin(2,Pin.OUT,Pin.PULL_DOWN)

motor_c=Pin(0,Pin.OUT,Pin.PULL_DOWN)

motor_d=Pin(4,Pin.OUT,Pin.PULL_DOWN)

#定义按键键值

KEY1_PRESS,KEY2_PRESS,KEY3_PRESS,KEY4_PRESS=1,2,3,4

key_en=1

#按键扫描函数

def key_scan():

global key_en

if key_en==1 and (key1.value()==0 or key2.value()==0 or

key3.value()==0 or key4.value()==0 ):

time.sleep_ms(10)

key_en=0

if key1.value()==0:

return KEY1_PRESS

elif key2.value()==0:

return KEY2_PRESS

elif key3.value()==0:

return KEY3_PRESS

elif key4.value()==0:

return KEY4_PRESS

elif key1.value()==1 and key2.value()==1 and key3.value()==1 and key4.value()==1:

key_en=1

return 0

#步进电机发送脉冲函数

def step_motor_send_pulse(step,fx):

temp=step

if fx==0:

temp=7-step

if temp==0:

motor_a.value(1)

motor_b.value(0)

motor_c.value(0)

motor_d.value(0)

elif temp==1:

motor_a.value(1)

motor_b.value(1)

motor_c.value(0)

motor_d.value(0)

elif temp==2:

motor_a.value(0)

motor_b.value(1)

motor_c.value(0)

motor_d.value(0)

elif temp==3:

motor_a.value(0)

motor_b.value(1)

motor_c.value(1)

motor_d.value(0)

elif temp==4:

motor_a.value(0)

motor_b.value(0)

motor_c.value(1)

motor_d.value(0)

elif temp==5:

motor_a.value(0)

motor_b.value(0)

motor_c.value(1)

motor_d.value(1)

elif temp==6:

motor_a.value(0)

motor_b.value(0)

motor_c.value(0)

motor_d.value(1)

elif temp==7:

motor_a.value(1)

motor_b.value(0)

motor_c.value(0)

motor_d.value(1)

#程序入口

if __name__=="__main__":

key=0

fx1=1

speed1=1

step1=0

while True:

if speed1<4:

key=key_scan()

if key==KEY1_PRESS:

fx1=not fx1

elif key==KEY2_PRESS:

if speed1>1:

speed1-=1

elif key==KEY3_PRESS:

speed1+=1

elif key==KEY4_PRESS:

speed1=900

step_motor_send_pulse(step1,fx1)

step1+=1

if step1==8:

step1=0

time.sleep_ms(speed1)

elif 3<speed1<10:

key=key_scan()

if key==KEY1_PRESS:

fx1=not fx1

elif key==KEY2_PRESS:

speed1-=2

elif key==KEY3_PRESS:

speed1+=2

elif key==KEY4_PRESS:

speed1=900

step_motor_send_pulse(step1,fx1)

step1+=1

if step1==8:

step1=0

time.sleep_ms(speed1)

elif 9<speed1<22:

key=key_scan()

if key==KEY1_PRESS:

fx1=not fx1

elif key==KEY2_PRESS:

speed1-=4

elif key==KEY3_PRESS:

speed1+=4

elif key==KEY4_PRESS:

speed1=900

step_motor_send_pulse(step1,fx1)

step1+=1

if step1==8:

step1=0

time.sleep_ms(speed1)

elif 21<speed1<47:

key=key_scan()

if key==KEY1_PRESS:

fx1=not fx1

elif key==KEY2_PRESS:

speed1-=8

elif key==KEY3_PRESS:

if speed1<46:

speed1+=8

elif key==KEY4_PRESS:

speed1=900

step_motor_send_pulse(step1,fx1)

step1+=1

if step1==8:

step1=0

time.sleep_ms(speed1)

elif speed1>599:

key=key_scan()

if key==KEY1_PRESS:

fx1=not fx1

elif key==KEY2_PRESS:

if speed1>600:

speed1-=100

elif key==KEY3_PRESS:

if speed1<900:

speed1+=100

elif key==KEY4_PRESS:

speed1=1

step_motor_send_pulse(step1,fx1)

step1+=1

if step1==8:

step1=0

time.sleep_us(speed1)

————————————————

原文链接：https://blog.csdn.net/weixin_74155302/article/details/130954164

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