stm32f103rct6与tb6600控制42步进电机的代码
时间: 2023-12-10 10:05:41 浏览: 44
下面是基于STM32F103RCT6和TB6600控制42步进电机的代码示例,供您参考:
```c
#include "stm32f10x.h"
#define STEPPER_PORT GPIOA
#define STEPPER_PIN1 GPIO_Pin_0
#define STEPPER_PIN2 GPIO_Pin_1
#define STEPPER_PIN3 GPIO_Pin_2
#define STEPPER_PIN4 GPIO_Pin_3
void delay_ms(uint32_t ms) {
while (ms--) {
uint32_t t = 8000;
while (t--);
}
}
void stepper_init() {
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_PORT, &GPIO_InitStructure);
}
void stepper_set_step(uint8_t step) {
switch (step) {
case 0:
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4);
break;
case 1:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN1);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4);
break;
case 2:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN3 | STEPPER_PIN4);
break;
case 3:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN2);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN3 | STEPPER_PIN4);
break;
case 4:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN2 | STEPPER_PIN3);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN4);
break;
case 5:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN3);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN4);
break;
case 6:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN3 | STEPPER_PIN4);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2);
break;
case 7:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN4);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3);
break;
}
}
void stepper_move(int16_t steps, uint16_t speed) {
uint8_t step = 0;
uint32_t delay = 1000000 / speed;
if (steps > 0) {
for (int i = 0; i < steps; i++) {
step = (step + 1) & 0x07;
stepper_set_step(step);
delay_ms(delay);
}
} else if (steps < 0) {
steps = -steps;
for (int i = 0; i < steps; i++) {
step = (step - 1) & 0x07;
stepper_set_step(step);
delay_ms(delay);
}
}
}
int main(void) {
stepper_init();
while (1) {
stepper_move(1000, 500);
delay_ms(1000);
stepper_move(-1000, 500);
delay_ms(1000);
}
}
```
在此示例代码中,我们使用GPIOA的0-3引脚控制了TB6600驱动的42步进电机。我们定义了一个stepper_set_step函数,用于设置步进电机的步数,以及一个stepper_move函数,用于移动步进电机的步数。在主函数中,我们不断地移动步进电机1000个步骤,然后再反向移动1000个步骤。
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