步进电机控制程序

/******************************************************
采用2相励磁方式，控制4相6线步进电机，每步转动1.8°。总共200步为一圈
*******************************************************/
run_motor(stepsL,stepsR);
}
direction_flagR=1;
stepsL=12500;
stepsR=5000;
}
void write_stepR() //P4~P7 control the Right motor
{
P33=step_flagR/0x8;
P32=step_flagR/0x4%0x2;
P31=step_flagR/0x2%0x2;
P30=step_flagR%0x2;
break;
case 0x3:
step_flagL=0x9;
break;
case 0x9:
step_flagL=0xc;
break;
default:
break;
};
if(direction_flagL==1) //if reversal
switch(step_flagL)
{
case 0xc:
step_flagL=0x9;
break;
case 0x9:
step_flagL=0x3;
break;
case 0x3:
step_flagL=0x6;
break;
}
void next_stepR()
{
if(direction_flagR==0) //if foreward
switch(step_flagR)
{
case 0xc:
step_flagR=0x6;
break;
case 0x6:
bit direction_flagR;
uint stepsL; //the total steps
uint stepsR;
void write_stepL() //P0~P3 control the Left motor
{ //there's no binary said method so....
sbit P36=P3^6;
sbit P37=P3^7;
uchar step_flagL; //show which step the motor with
uchar step_flagR;
bit direction_flagL; //flag of rotation direction
{
for(i=stepsR;i>0;i--)
{
next_stepL();
next_stepR();
}
j=stepsL-stepsR;
for(i=j;i>0;i--)
next_stepL();
}
else //if stepsL <= stepsR,run L and R, then only run R
#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
sbit P30=P3^0;
sbit P31=P3^1;
sbit P32=P3^2;
sbit P33=P3^3;
sbit P34=P3^4;
sbit P35=P3^5;
case 0x6:
step_flagR=0xc;
break;
default:
break;
};
write_stepR(); //put the value of step_flag into P04~P07
delay(1); //there're about 1000 steps in 1 second
{
for(i=stepsL;i>0;i--)
{
next_stepL();
next_stepR();
}
j=stepsR-stepsL;
for(i=j;i>0;i--)
next_stepR();
}
}
main()
{
direction_flagL=0;
}
void next_stepL()
{
if(direction_flagL==0) //if foreward
switch(step_flagL)
{
case 0xc:
step_flagL=0x6;
break;
case 0x6:
step_flagL=0x3;
}
void run_motor(uint stepsL,uint stepsR)
{
int i,j;
step_flagL=0xc; //inital motor
step_flagR=0xc;
if(stepsL>stepsR) //if the stepsL > stepsR,run the L and R ,then only run L
step_flagR=0x3;
break;
case 0x3:
step_flagR=0x9;
break;
case 0x9:
step_flagR=0xc;
break;
default:
break;
};
if(direction_flagR==1) //if reversal
case பைடு நூலகம்x6:
step_flagL=0xc;
break;
default:
break;
};
write_stepL(); //put the value of step_flag into P00~P03
delay(1); //there're about 1000 steps in 1 second
P37=step_flagL/0x8; //get first bit
P36=step_flagL/0x4%0x2; //get second bit
P35=step_flagL/0x2%0x2; //get third bit
P34=step_flagL%0x2; //get forth bit
}
delay(int z) //delay subprogram
{
int x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--); //y数值 在85 到142之间 电机能正常运转！！！(X=1 的时候)
//李凯的电机是这样的
switch(step_flagR)
{
case 0xc:
step_flagR=0x9;
break;
case 0x9:
step_flagR=0x3;
break;
case 0x3:
step_flagR=0x6;
break;