用c语言写一个esp32驱动步进电机的代码
时间: 2023-03-25 10:01:02 浏览: 102
可以的,以下是一个简单的示例代码:
#include <stdio.h>
#include <stdlib.h>
#include "driver/gpio.h"
#include "driver/ledc.h"
#define STEPPER_PIN_1 18
#define STEPPER_PIN_2 19
#define STEPPER_PIN_3 21
#define STEPPER_PIN_4 22
#define STEPS_PER_REV 200
#define MICROSTEPS 16
void stepper_init() {
gpio_pad_select_gpio(STEPPER_PIN_1);
gpio_pad_select_gpio(STEPPER_PIN_2);
gpio_pad_select_gpio(STEPPER_PIN_3);
gpio_pad_select_gpio(STEPPER_PIN_4);
gpio_set_direction(STEPPER_PIN_1, GPIO_MODE_OUTPUT);
gpio_set_direction(STEPPER_PIN_2, GPIO_MODE_OUTPUT);
gpio_set_direction(STEPPER_PIN_3, GPIO_MODE_OUTPUT);
gpio_set_direction(STEPPER_PIN_4, GPIO_MODE_OUTPUT);
ledc_timer_config_t timer_conf = {
.duty_resolution = LEDC_TIMER_10_BIT,
.freq_hz = 500,
.speed_mode = LEDC_HIGH_SPEED_MODE,
.timer_num = LEDC_TIMER_
};
ledc_timer_config(&timer_conf);
ledc_channel_config_t ch_conf = {
.channel = LEDC_CHANNEL_,
.duty = ,
.gpio_num = STEPPER_PIN_1,
.speed_mode = LEDC_HIGH_SPEED_MODE,
.timer_sel = LEDC_TIMER_
};
ledc_channel_config(&ch_conf);
}
void stepper_step(int steps, int dir) {
int i, j;
int step_seq[8][4] = {
{1, , , 1},
{1, , , },
{1, 1, , },
{, 1, , },
{, 1, 1, },
{, , 1, },
{, , 1, 1},
{, , , 1}
};
int step_count = abs(steps) * MICROSTEPS;
int delay_us = 100000 / (STEPS_PER_REV * MICROSTEPS);
for (i = ; i < step_count; i++) {
for (j = ; j < 4; j++) {
gpio_set_level(STEPPER_PIN_1, step_seq[i % 8][]);
gpio_set_level(STEPPER_PIN_2, step_seq[i % 8][1]);
gpio_set_level(STEPPER_PIN_3, step_seq[i % 8][2]);
gpio_set_level(STEPPER_PIN_4, step_seq[i % 8][3]);
ledc_set_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_, 512 * dir);
ledc_update_duty(LEDC_HIGH_SPEED_MODE, LEDC_CHANNEL_);
ets_delay_us(delay_us);
}
}
}
int main() {
stepper_init();
stepper_step(100, 1);
stepper_step(100, -1);
return ;
}