单片机控制舵机及步进电机

#include <Arduino.h>
#define AA1 4 //引脚命名
#define B1 5
#define C1 6
#define D1 7 ///128bu
#define AA2 8 //引脚命名
#define B2 9
#define C2 10
#define D2 11 ///128bu
#define dj1 A0
#define dj2 A1
#define dj3 A2
#define dj4 A3
#define dj5 A4
#define dj6 A5
#include <SoftwareSerial.h>
SoftwareSerial mySerial(2, 3); // RX, TX
String inputString = ""; // a string to hold incoming data
boolean stringComplete = false; // whether the string is complete
boolean getgm65stringComplete = false;
String getgm65 = "";
int _step = 0 ;
boolean dir; //= -1;正反转
int stepperSpeed = 4;//电机转速,1ms⼀步
#define KEY 12
void setup()
{Serial.begin(9600);mySerial.begin(9600);pinMode(13, OUTPUT);Serial.println("ok");pinMode(KEY, INPUT_PULLUP);pinMode(AA1, OUTPUT); //设置引脚为输出引脚pinMode(B1, OUTPUT);pinMode(C1, OUTPUT);pinMode(D1, OUTPUT);pinMode(AA2, OUTPUT); //设置引脚为输出引脚pinMode(B2, OUTPUT);pinMode(C2, OUTPUT);pinMode(D2, OUTPUT);motorZ1(100, 3);motorF1(100, 3);motorT1();motorZ2(100, 3);motorF2(100, 3);motorT2();mydj(dj1, 160);delay(1000);mydj(dj1, 10);delay(1000);mydj(dj2, 160);delay(1000);mydj(dj2, 10);delay(1000);mydj(dj3, 160);delay(1000);mydj(dj3, 10);delay(1000);mydj(dj4, 160);delay(1000);mydj(dj4, 10);delay(1000);mydj(dj5, 160);delay(1000);mydj(dj5, 10);delay(1000);mydj(dj6, 160);delay(1000);mydj(dj6, 10);delay(1000);
}
int xiangmu = 0;
char shaomafig1 = 0;
String shaoma1 = "";
String weizi[4] = {"", "", "", ""};
int weizinum = 0;
void loop()
{if (xiangmu == 0){if (digitalRead(KEY) == 0){delay(10);if (digitalRead(KEY) == 0){Serial.println("start");//按下开始送料电机转 300 步for (int i = 0; i < 4; i++){if (weizi[i] == ""){xiangmu = 1;}}if(xiangmu ==0)Serial.println("没有空的仓位");else{shaomafig1 = 0;motorZ1(300, 3);motorT1(); }}}}else if (xiangmu == 1)//等待扫码1 ok 送料电机转 300 步到 升降电机 升降电机找空位储存{// Serial.println(shaomafig1);if (shaomafig1 == 1){xiangmu = 2;shaomafig1 = 0;motorZ1(300, 3);motorT1();for (int i = 0; i < 4; i++){if (weizi[i] == ""){weizinum = i;i = 4;//return;}}Serial.println("位置=" + String(weizinum));if (weizinum == 0) //第⼀个储存位置{weizi[0] = shaoma1;for (int i = 0; i < 4; i++)Serial.println("位置" + String(i) + "码=" + String(weizi[i]));motorZ2(150, 3);//升降电机 转 150 步motorT2();mydj(dj5, 160); //第⼀层 舵机推⼊储存delay(1000);mydj(dj5, 10);delay(1000); xiangmu = 0;}else if (weizinum == 1) //第2个储存位置{weizi[1] = weizi[0]; //weizi[0] = shaoma1;for (int i = 0; i < 4; i++)Serial.println("位置" + String(i) + "码=" + String(weizi[i]));motorZ2(150, 3);//升降电机 转 150 步motorT2();mydj(dj5, 160); //第⼀层 舵机推⼊储存delay(1000);mydj(dj5, 10);delay(1000); xiangmu = 0;}else if (weizinum == 2) //第3个储存位置{weizi[2] = shaoma1;for (int i = 0; i < 4; i++)Serial.println("位置" + String(i) + "码=" + String(weizi[i]));motorZ2(300, 3);//升降电机 转 300 步motorT2();mydj(dj6, 160); //第2层 舵机推⼊储存delay(1000);mydj(dj6, 10);delay(1000); xiangmu = 0;}else if (weizinum == 3) //第4个储存位置{weizi[3] = weizi[2]; //weizi[2] = shaoma1;for (int i = 0; i < 4; i++)Serial.println("位置" + String(i) + "码=" + String(weizi[i]));motorZ2(300, 3);//升降电机 转 300 步motorT2();mydj(dj6, 160); //第2层 舵机推⼊储存delay(1000);mydj(dj6, 10);delay(1000); xiangmu = 0;}}}// digitalWrite(PC13,HIGH);// delay(300);// digitalWrite(PC13,LOW);// delay(300);//Serial.println("sdf");serialEvent1();serialEvent2();
}
void serialEvent1() {while (Serial.available()) {// get the new byte:char inChar = (char)Serial.read();Serial.write(inChar);// add it to the inputString:getgm65 += inChar;// if the incoming character is a newline, set a flag// so the main loop can do something about it:if (inChar == '!'){getgm65stringComplete = true;}if (getgm65stringComplete){Serial.println(getgm65);shaomafig1 = 1;Serial.println(shaomafig1);shaoma1 = getgm65;getgm65 = "";getgm65stringComplete = false;}}
}
void serialEvent2() {while (mySerial.available()) {// get the new byte:char inChar = (char)mySerial.read();Serial.write(inChar);// add it to the inputString:getgm65 += inChar;// if the incoming character is a newline, set a flag// so the main loop can do something about it:if (inChar == '!'){getgm65stringComplete = true;}if (getgm65stringComplete){Serial.println(getgm65);if (strstr(getgm65.c_str(), weizi[0].c_str()) != NULL && weizi[0] != ""){weizi[0] = "";mydj(dj1, 160);delay(1000);mydj(dj1, 10);}if (strstr(getgm65.c_str(), weizi[1].c_str()) != NULL && weizi[1] != ""){weizi[1] = "";mydj(dj2, 160);delay(1000);mydj(dj2, 10);}if (strstr(getgm65.c_str(), weizi[2].c_str()) != NULL && weizi[2] != ""){weizi[2] = "";mydj(dj3, 160);delay(1000);mydj(dj3, 10);}if (strstr(getgm65.c_str(), weizi[3].c_str()) != NULL && weizi[3] != ""){weizi[3] = "";mydj(dj4, 160);delay(1000);mydj(dj4, 10);}for (int i = 0; i < 4; i++)Serial.println("位置" + String(i) + "码=" + String(weizi[i]));getgm65 = "";getgm65stringComplete = false;}}
}
void motorT1()
{digitalWrite(AA1, 0); //A1引脚⾼电平digitalWrite(B1, LOW);digitalWrite(C1, LOW);digitalWrite(D1, LOW);
}
void motorF1(long bu, int yanshi)
{for (int i = 0; i < bu; i++){Phase_D1(); //设置A相位delay(yanshi); //改变延时可改变旋转速度Phase_C1(); //设置B相位delay(yanshi);Phase_B1(); //设置C相位delay(yanshi);Phase_A1(); //设置D相位delay(yanshi);}
}
void motorZ1(long bu, int yanshi)
{for (int i = 0; i < bu; i++){Phase_A1(); //设置A相位delay(yanshi); //改变延时可改变旋转速度Phase_B1(); //设置B相位delay(yanshi);Phase_C1(); //设置C相位delay(yanshi);Phase_D1(); //设置D相位delay(yanshi);}
}
void Phase_A1()
{digitalWrite(AA1, HIGH); //A1引脚⾼电平digitalWrite(B1, LOW);digitalWrite(C1, LOW);digitalWrite(D1, LOW);
}
void Phase_B1()
{digitalWrite(AA1, LOW);digitalWrite(B1, HIGH); //B1引脚⾼电平digitalWrite(C1, LOW);digitalWrite(D1, LOW);
}
void Phase_C1()
{digitalWrite(AA1, LOW);digitalWrite(B1, LOW);digitalWrite(C1, HIGH); //C1引脚⾼电平digitalWrite(D1, LOW);
}
void Phase_D1()
{digitalWrite(AA1, LOW);digitalWrite(B1, LOW);digitalWrite(C1, LOW);digitalWrite(D1, HIGH); //D1引脚⾼电平
}
void motorT2()
{digitalWrite(AA2, 0); //A1引脚⾼电平digitalWrite(B2, LOW);digitalWrite(C2, LOW);digitalWrite(D2, LOW);
}
void motorF2(long bu, int yanshi)
{for (int i = 0; i < bu; i++){Phase_D2(); //设置A相位delay(yanshi); //改变延时可改变旋转速度Phase_C2(); //设置B相位delay(yanshi);Phase_B2(); //设置C相位delay(yanshi);Phase_A2(); //设置D相位delay(yanshi);}
}
void motorZ2(long bu, int yanshi)
{for (int i = 0; i < bu; i++){Phase_A2(); //设置A相位delay(yanshi); //改变延时可改变旋转速度Phase_B2(); //设置B相位delay(yanshi);Phase_C2(); //设置C相位delay(yanshi);Phase_D2(); //设置D相位delay(yanshi);}
}
void Phase_A2()
{digitalWrite(AA2, HIGH); //A2引脚⾼电平digitalWrite(B2, LOW);digitalWrite(C2, LOW);digitalWrite(D2, LOW);
}
void Phase_B2()
{digitalWrite(AA2, LOW);digitalWrite(B2, HIGH); //B2引脚⾼电平digitalWrite(C2, LOW);digitalWrite(D2, LOW);
}
void Phase_C2()
{digitalWrite(AA2, LOW);digitalWrite(B2, LOW);digitalWrite(C2, HIGH); //C2引脚⾼电平digitalWrite(D2, LOW);
}
void Phase_D2()
{digitalWrite(AA2, LOW);digitalWrite(B2, LOW);digitalWrite(C2, LOW);digitalWrite(D2, HIGH); //D2引脚⾼电平
}
void mydj(int pin, int angle)
{int x;pinMode(pin, OUTPUT);x = map(angle, 0, 180, 500, 2500);for (int i = 0; i < 40; i++){digitalWrite(pin, 1);delayMicroseconds(x);digitalWrite(pin, 0);delayMicroseconds(20000 - x);}
}

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