Question

我尝试用一个使用协议的程序来控制步进电机（见下文）我能够使用Accelstepper控制步进器（见下文），但不知道我如何编程Arduino，因此它能够通过串口通过te协议进行通信。

#include <AccelStepper.h>

// Define a stepper and the pins it will use
AccelStepper stepper(1, 3, 4);

int pos = 8192; 

void setup()
{  
  stepper.setMaxSpeed(5000);
  stepper.setAcceleration(1500);
}

void loop()
{
  if (stepper.distanceToGo() == 0)
  {
    delay(500);
    pos = -pos;
    stepper.moveTo(pos);
  }
  stepper.run();
}

发送到旋转台的所有命令都是简单的字符格式，包括电机编号。只有标记为xxx的部分作为字节数据传递给表。例如，如果您希望表1旋转4步而不是传递“I1M004”，则传递“I1M”+（char）0 +（char）0 +（char）4 通常，所有命令都以以下形式得到答复：^ XXXXXX

命令

V 请求旋转台的状态。通常的回复是^ R1R2R3R4表示旋转1就绪，旋转2准备等等。^ B1xxxR2R3R4表示旋转1忙，其中xxx是3字节表示旋转仍然需要执行多少步。

SmMxxx 将电机的速度设置为xxx，其中xxx是表示速度的3字节数据。示例代码：port.Write（“S1M”+（char）0 +（char）6 +（char）255）; //将电机1设置为速度1791.我们的旋转表的标准速度范围是：0x000001到0x0012FF（1到4863）。控制器将以^ mxx响应电机编号和速度设置的最后2个字节。

ImMxxx 转动电动机m xxx步数。控制器将使用^ Bmxxx

确认

DmCWLO 将电机编号m设置为顺时针旋转（因此，每次连续旋转电机m的命令都会顺时针旋转）。

DmCWHi 将旋转m设置为逆时针旋转。

EmHALT 旋转停止。旋转样本命令序列

电机编号作为字符传递，但为简单起见，步数和速度作为3字节的二进制传递。发送：V回复：^ R1R2R3R4 发送：S1M1791回复：^ 191 发送：D1CWLO回复：^ 发送：I1M100回复：^ B1100

Answer 1

我的论文工作有一个类似的项目，我通过arduino uno从PC控制倒立摆。我假设您有一个PC程序将命令发送到arduino，问题是在Arduino板上接收和解释它。我在here

的主要帮助（一些复制粘贴修改）中编写了下面的代码

它基本上打开了com端口，然后监听来自PC的传入命令。当收到命令时，它会将其分解（传入的命令以＃00参数格式）。所有命令都以＃开头。以下2位数字定义命令本身，以下文本/数字是命令的参数。

一旦命令及其参数已知，就可以执行与命令相关的实际过程。在你的情况下，这应该是与传入命令相关的电机控制。下面的代码显然需要更新以匹配您的电机控制功能，但传入的命令处理工作正常。

String inputString = "";         // a string to hold incoming data
boolean stringComplete = false;  // whether the incloming string is complete

float kp = 10;     //sample parameter 1
float kd = 5;      //sample parameter 2
float ki = 2;      //sample parameter 3


void setup() 
{
  Serial.begin(9600);          //Start serial communication  
  inputString.reserve(200);      //Reserves 200 bytes for the string
}

void loop()
{
  //This becomes true when the serial port receives a "\n" character (end of line)
  if (stringComplete)            
  {
    SerialProc();                //the function which runs when a full line is received
    inputString = "";            //once processed, the string is cleared
    stringComplete = false;      //set flag to false to indicate there is nothing in the buffer waiting
  }
}

void serialEvent()              //This serial event runs between each loop cycles
{
  while (Serial.available())    //if there is anything in the incoming buffer this while loop runs
  {
    // get the next new byte:
    char inChar = (char)Serial.read(); 
    // add it to the inputString:
    inputString += inChar;
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n') 
    {
      stringComplete = true;    //This indicates the line is complete, and the main program can process it
    } 
  }
}

void SerialProc()  //the function which processes the incoming commands. It needs to be modified to your needs
{
   //cmd is the first three characters of the incoming string / line
   String cmd = inputString.substring(0,3);  //first three characters in incoming string specifies the command

   //param is the rest of the string to the end of the line (excluding the first three characters)
   String param = inputString.substring(3, inputString.length());  //rest of incoming string is making up the parameter

   //creating a buffer as an array of characters, same size as the length of the parameters string
   char buf[param.length()];
   //moving the parameters from string to the char array
   param.toCharArray(buf,param.length());

   //the above string to char array conversion is required for the string to float 
   //conversion below (atof)

   //the below part is the command execution. Could have used a switch below, but the series of ifs
   //just did the trick

    if (cmd == "#00")
      SendReply();                      //Executing command 1
    else if (cmd == "#01")
      kp = atof(buf);                   //executing command 2 (setting parameter kp)
    else if (cmd == "#02")
      kd = atof(buf);                   //executing command 3 (setting parameter kd)
    else if (cmd == "#03")
      ki = atof(buf);                   //executing command 4 (setting parameter ki)
}

void SendReply()
{
  //This is called from the SerialProc function when the #00 command is received
  //After the last parameter (TimeDelay) it sends the carrige return characters via the Serial.println
  Serial.println("reply");
}

Arduino步进控制程序

1 个答案: