该代码以CW(flex)运动运行,但是当检测到或击中开关时将不会以CCW(dflex)运动运行。当手动按下或击打机械限位开关时,电机会尝试执行某些操作,但不会停止顺时针运动,它绝对不会改变其向逆时针方向。
使用可减少47齿轮的双极步进电机
const int LS = 2; // input pin for the Limit Switch
int detectState = 0; // Variable for reading the encoder status
const int stepPin = 5;
const int dirPin = 4;
const int enablePin = 3;
double GReduction = 47;
int T1 = 100;
int T2 = 100;
int Z = 0;
int Walk_flag = 1;
double angle = 0;
/////////////////////////////////////////////// // flex(int ang,int tm); //一个=角度,tm =时间
void setup()
{
pinMode(LS, INPUT); //Set pin 2 as input
pinMode(stepPin,OUTPUT); //Set pin 5 as input
pinMode(dirPin,OUTPUT);//Set pin 4 as input
pinMode(enablePin,OUTPUT);//Set pin 3 as input
attachInterrupt(digitalPinToInterrupt(LS), LS_Hit, CHANGE);
////////////homing algorithm
//T1=100;
dflex();
Serial.begin(9600);
angle=0;
flex(90,1);
}
void loop() {
flex(30,100);
delay(1000);
if( detectState==HIGH)
{
dflex();
}
}
///////////////////////////////////// CW motion
void flex(int ang,int tm) // an = angle, tm= time
{
double ZZ;
ZZ= (800.0*ang*GReduction/360.0);
//String val = String(ang/360);
Serial.println(ang);
for(int x = 0; x <ZZ; x++) { //angle control
digitalWrite(dirPin,HIGH);
digitalWrite(enablePin,HIGH);
digitalWrite(stepPin,HIGH);
delayMicroseconds(T1);
digitalWrite(stepPin,LOW);
delayMicroseconds(T1);
}
digitalWrite(enablePin,LOW);
}
/////////CCW motion
void dflex()
{
digitalWrite(enablePin,HIGH);
digitalWrite(dirPin,LOW); //Changes the rotations direction
int LS_status=digitalRead(LS);
while(digitalRead(LS)) {
if(digitalRead(LS)==HIGH)
{
break;
}
digitalWrite(stepPin,HIGH);
delayMicroseconds(T2);
//delay(100/T); // One second delay
digitalWrite(stepPin,LOW);
//delay(T/100); // One second delay
delayMicroseconds(T2);
}
}
void LS_Hit()
{
digitalWrite(enablePin,LOW);
angle=0;
detectState =! detectState;
}
答案 0 :(得分:1)
代码的以下部分有问题:
while(digitalRead(LS))
{
if(digitalRead(LS) == HIGH)
{
break;
}
digitalWrite(stepPin, HIGH);
delayMicroseconds(T2);
//delay(100/T); // One second delay
digitalWrite(stepPin, LOW);
//delay(T/100); // One second delay
delayMicroseconds(T2);
}
while循环中的步骤将永远不会完成,因为while循环的输入条件与中断条件相同。
具体来说,该控件仅在digitalRead(LS)
返回HIGH
时才进入while循环,但是在进入while循环后,您将立即再次进行相同的检查,如果函数返回HIGH
,您就退出了while循环。这将永远不允许该功能使电动机反向旋转。
您的代码还有其他几个问题,但这是最响亮的问题。