步进电机的优点在于它能够被精确定位,正向或反向一次性转动“一步”,并且也能够连续转动。
#!/usr/bin/env python ######################################################### # File name: stepMotor.py # Author: Jason Dai # Date: 2015/01/26 ######################################################### import RPi.GPIO as GPIO import time IN1 = 11 # pin11 IN2 = 12 IN3 = 13 IN4 = 15 def setStep(w1, w2, w3, w4): GPIO.output(IN1, w1) GPIO.output(IN2, w2) GPIO.output(IN3, w3) GPIO.output(IN4, w4) def stop(): setStep(0, 0, 0, 0) def forward(delay, steps): for i in range(0, steps): setStep(1, 0, 0, 0) time.sleep(delay) setStep(0, 1, 0, 0) time.sleep(delay) setStep(0, 0, 1, 0) time.sleep(delay) setStep(0, 0, 0, 1) time.sleep(delay) def backward(delay, steps): for i in range(0, steps): setStep(0, 0, 0, 1) time.sleep(delay) setStep(0, 0, 1, 0) time.sleep(delay) setStep(0, 1, 0, 0) time.sleep(delay) setStep(1, 0, 0, 0) time.sleep(delay) def setup(): GPIO.setwarnings(False) GPIO.setmode(GPIO.BOARD) # Numbers GPIOs by physical location GPIO.setup(IN1, GPIO.OUT) # Set pin's mode is output GPIO.setup(IN2, GPIO.OUT) GPIO.setup(IN3, GPIO.OUT) GPIO.setup(IN4, GPIO.OUT) def loop(): while True: print "backward..." backward(0.003, 512) # 512 steps --- 360 angle print "stop..." stop() # stop time.sleep(3) # sleep 3s print "forward..." forward(0.005, 512) print "stop..." stop() time.sleep(3) def destroy(): GPIO.cleanup() # Release resource if __name__ == '__main__': # Program start from here setup() try: loop() except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed. destroy()
运行程序:
python stepMotor.py
时间: 2024-10-01 23:01:00