利用树莓派控制步进电机——C语言

电路连接方式请看另一篇博文：【利用树莓派控制步进电机——pythony语言】

/******************************************************
*   File name: stepMotor.c
*      Author: Jason Dai
*        Date: 2015/01/26
******************************************************/
#include <wiringPi.h>
#include <stdio.h>

#define IN1 0    // wiringPi GPIO0(pin11)
#define IN2 1
#define IN3 2
#define IN4 3

void setStep(int a, int b, int c, int d)
{
	digitalWrite(IN1, a);
	digitalWrite(IN2, b);
	digitalWrite(IN3, c);
	digitalWrite(IN4, d);
}

void stop()
{
	setStep(0, 0, 0, 0);
}

void forward(int t, int steps)
{
	int i;

	for(i = 0; i < steps; i++){
		setStep(1, 0, 0, 0);
		delay(t);
		setStep(0, 1, 0, 0);
		delay(t);
		setStep(0, 0, 1, 0);
		delay(t);
		setStep(0, 0, 0, 1);
		delay(t);
	}
}

void backward(int t, int steps)
{
	int i;

	for(i = 0; i < steps; i++){
		setStep(0, 0, 0, 1);
		delay(t);
		setStep(0, 0, 1, 0);
		delay(t);
		setStep(0, 1, 0, 0);
		delay(t);
		setStep(1, 0, 0, 0);
		delay(t);
	}
}

int main(void) {
	if (-1 == wiringPiSetup()) {
		printf("Setup wiringPi failed!");
		return 1;
	}

	/* set mode to output */
	pinMode(IN1, OUTPUT);
	pinMode(IN2, OUTPUT);
	pinMode(IN3, OUTPUT);
	pinMode(IN4, OUTPUT);

	while (1){
		printf("forward...\n");
		forward(3, 256);	

		printf("stop...\n");
		stop();
		delay(2000);       // 2s

		printf("backward...\n");
		backward(3, 512);  // 512 steps ---- 360 angle	

		printf("stop...\n");
		stop();
		delay(2000);       // 2s
	}

	return 0;
}

编译：

gcc stepMotor.c -o stepMotor -lwiringPi

运行：

./stepMotor