Atomic Stepmotor Base Arduino 使用教程

#include "M5Unified.h"
#include "M5GFX.h"

// Stepper motor configuration parameters
int step_division = 32;           // Motor microstepping division factor
int number_of_steps = 200;       // Number of steps per full revolution of the motor
int en_pin = 5;                  // Motor driver enable pin
int step_pin = 6;                // Motor step control pin
int dir_pin = 7;                 // Motor direction control pin

// Timing variables for step control
unsigned long step_interval = 10000;  // Microsecond interval between step pulses
unsigned long last_step_time = 0;     // Timestamp of the last step pulse
unsigned long target_step_time1 = 0;  // Target time for step pin HIGH state
unsigned long target_step_time2 = 0;  // Target time for step pin LOW state

void motor_setSpeed(float rpm);               // Set motor rotation speed (revolutions per minute)
void motor_powerEnable(bool ena);             // Enable/disable motor driver
void motor_setDirection(long steps_to_move);  // Set rotation direction based on step count
void motor_move();                            // Generate a single step pulse
void motor_moveInterval(unsigned long target_delay);  // Control step pulse timing
void motor_dynamicMove(int s1, int s2);       // Step with dynamic acceleration/deceleration
void motor_step(long steps_to_move);          // Move specified steps without acceleration
void motor_step_accdec(long steps_to_move, long steps_acc, long steps_dec);  // Move with acceleration/deceleration

void setup() {
  M5.begin(); 
  M5.Lcd.setFont(&fonts::FreeMonoBoldOblique9pt7b);  // Set display font
  M5.Lcd.drawCenterString("Motor", 64, 64);          // Display title at center

  pinMode(en_pin, OUTPUT);
  pinMode(dir_pin, OUTPUT);
  pinMode(step_pin, OUTPUT);

  motor_setSpeed(0);       // Set initial speed to 0
  motor_powerEnable(true); // Enable motor driver
  delay(1600);             // Short delay for initialization
}

void loop() {
  M5.update();  

  if (M5.BtnA.wasPressed()) {
    motor_setSpeed(300);   // Set motor speed to 300 RPM
    motor_step(1200);      // Rotate 1200 steps clockwise
    motor_step(-1200);     // Rotate 1200 steps counter-clockwise
  }
}

// ---- Function Definitions ----

/**
 * Set motor rotation speed in revolutions per minute (RPM)
 * Calculates step interval based on RPM, steps per revolution, and microstepping
 * @param rpm Target rotation speed in revolutions per minute
 */
void motor_setSpeed(float rpm) {
  // Calculate microsecond interval between steps: 
  // 60,000,000 microseconds/minute ÷ (steps/rev × RPM × microsteps)
  step_interval = 60000000L / (number_of_steps * rpm * step_division);
}

/**
 * Enable or disable the motor driver
 * @param ena True to enable motor (driver active), false to disable
 */
void motor_powerEnable(bool ena) {
  digitalWrite(en_pin, ena ? LOW : HIGH);  // Typically, LOW enables most drivers
}

/**
 * Set motor rotation direction based on step count sign
 * @param steps_to_move Positive for clockwise, negative for counter-clockwise
 */
void motor_setDirection(long steps_to_move) {
  if (steps_to_move < 0) {
    digitalWrite(dir_pin, HIGH);  // Set direction pin for counter-clockwise
  } else {
    digitalWrite(dir_pin, LOW);   // Set direction pin for clockwise
  }
}

/**
 * Generate a single step pulse (HIGH then LOW) with proper timing
 */
void motor_move() {
  digitalWrite(step_pin, HIGH);    // Set step pin HIGH to trigger step
  motor_moveInterval(step_interval);  // Maintain HIGH state and then transition to LOW
}

/**
 * Control timing for step pin state transitions
 * Ensures proper duration for HIGH and LOW states of the step pulse
 * @param target_delay Total duration of one step cycle (HIGH + LOW) in microseconds
 */
void motor_moveInterval(unsigned long target_delay) {
  // Calculate target times for state transitions
  target_step_time1 = last_step_time + (target_delay / 2);  // Midpoint (HIGH to LOW)
  target_step_time2 = last_step_time + target_delay;        // End of cycle (LOW to next step)

  // Wait for HIGH state duration
  if (target_step_time1 >= last_step_time) {
    while (micros() < target_step_time1) {}  // Handle normal time progression
  } else {
    while ((long)(micros()) < (long)target_step_time1) {}  // Handle micros() rollover
  }
  
  digitalWrite(step_pin, LOW);  // Set step pin LOW after half the interval

  // Wait for remaining LOW state duration
  if (target_step_time2 >= last_step_time) {
    while (micros() < target_step_time2) {}  // Handle normal time progression
  } else {
    while ((long)(micros()) < (long)target_step_time2) {}  // Handle micros() rollover
  }
  
  last_step_time = micros();  // Update last step timestamp
}

/**
 * Generate a step with dynamic speed adjustment for acceleration/deceleration
 * @param s1 Current step in acceleration/deceleration phase
 * @param s2 Total steps in acceleration/deceleration phase
 */
void motor_dynamicMove(int s1, int s2) {
  digitalWrite(step_pin, HIGH);  // Start step pulse
  
  // Calculate speed ratio using polynomial for smooth acceleration/deceleration
  double r1 = (double)s1 / (double)s2;
  double r2 = 0.1 + 0.2*r1 + 2.2*r1*r1 - 1.5*r1*r1*r1;
  
  // Adjust step interval based on calculated ratio
  motor_moveInterval((unsigned long)(step_interval / r2));
}

/**
 * Move motor specified number of steps without acceleration
 * Converts input steps to microstepped steps using step_division
 * @param steps_to_move Number of steps to move (positive = clockwise, negative = counter-clockwise)
 */
void motor_step(long steps_to_move) {
  steps_to_move *= step_division;  // Convert to microstepped steps
  motor_setDirection(steps_to_move);  // Set rotation direction
  last_step_time = micros();        // Initialize step timestamp
  
  // Generate each step pulse
  for (long i = abs(steps_to_move); i > 0; i--) {
    motor_move();
  }
}

/**
 * Move motor with acceleration, constant speed, and deceleration phases
 * @param steps_to_move Total steps to move (signed for direction)
 * @param steps_acc Number of steps used for acceleration phase
 * @param steps_dec Number of steps used for deceleration phase
 */
void motor_step_accdec(long steps_to_move, long steps_acc, long steps_dec) {
  // Convert all step counts to microstepped values
  steps_to_move *= step_division;
  steps_acc *= step_division;
  steps_dec *= step_division;
  
  motor_setDirection(steps_to_move);  // Set rotation direction
  last_step_time = micros();          // Initialize step timestamp

  // Acceleration phase: gradually increase speed
  if (steps_acc > 0) {
    for (long i = 1; i <= steps_acc; i++) {
      motor_dynamicMove(i, steps_acc);
    }
  }

  // Constant speed phase: maintain steady speed
  long constant_steps = abs(steps_to_move) - abs(steps_acc) - abs(steps_dec);
  for (long i = constant_steps; i > 0; i--) {
    motor_move();
  }

  // Deceleration phase: gradually decrease speed
  if (steps_dec > 0) {
    for (long i = (steps_dec - 1); i >= 0; i--) {
      motor_dynamicMove(i, steps_dec);
    }
  }
}