树莓派控制步进电机

前言

测试步进电机

设备

连接

树莓派3B+ GPIO引脚图可在此文章中查看: 树莓派 亮灯 笔记

步进电机插入驱动板

驱动板VCC接树莓派5V
驱动板GND接树莓派GND
驱动板INA接树莓派20
驱动板INB接树莓派26
驱动板INC接树莓派16
驱动板IND接树莓派19

源码

import RPi.GPIO as GPIO
import time
#BCM 对应 GPIO numbers , BOARD 对应 physical numbers。
GPIO.setmode(GPIO.BCM)

delay=2 #delay 2ms

pin_4= 20
pin_17 = 26
pin_23 = 16
pin_24 = 19

def init():
    GPIO.setwarnings(False)
    GPIO.setup(pin_4, GPIO.OUT)
    GPIO.setup(pin_17, GPIO.OUT)
    GPIO.setup(pin_23, GPIO.OUT)
    GPIO.setup(pin_24, GPIO.OUT)

def setStep(w1, w2, w3, w4):
  GPIO.output(pin_4, w1)
  GPIO.output(pin_17, w2)
  GPIO.output(pin_23, w3)
  GPIO.output(pin_24, w4)

# 逆时针
def back(delay):  
    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)
    
# 顺时针
def forward(delay):  
    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 main():
    init() 
    while True:
        # forward(int(delay) / 1000.0)
        back(int(delay) / 1000.0)


main() # 调用main
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