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標題: AFMotor驅動步進電機庫文件下載(L293D庫文件) [打印本頁]
作者: 高靠譜    時間: 2018-6-12 12:06
標題: AFMotor驅動步進電機庫文件下載(L293D庫文件)
ARDUINO驅動步進電機需要庫文件 放到library里就好了



L293D Arduino單片機源程序如下:
  1. // Adafruit Motor shield library
  2. // copyright Adafruit Industries LLC, 2009
  3. // this code is public domain, enjoy!

  5. #if ARDUINO >= 100
  6.   #include "Arduino.h"
  7. #else
  8.   #include "WProgram.h"
  9. #endif
  10. #include <avr/io.h>

  12. #include "AFMotor.h"

  14. static uint8_t latch_state;

  16. #define MICROSTEPS 16  // 8, 16 & 32 are popular

  18. //#define MOTORDEBUG 1

  20. AFMotorController::AFMotorController(void) {
  21. }

  23. void AFMotorController::enable(void) {
  24.   // setup the latch
  25.   /*
  26.   LATCH_DDR |= _BV(LATCH);
  27.   ENABLE_DDR |= _BV(ENABLE);
  28.   CLK_DDR |= _BV(CLK);
  29.   SER_DDR |= _BV(SER);
  30.   */
  31.   pinMode(MOTORLATCH, OUTPUT);
  32.   pinMode(MOTORENABLE, OUTPUT);
  33.   pinMode(MOTORDATA, OUTPUT);
  34.   pinMode(MOTORCLK, OUTPUT);

  36.   latch_state = 0;

  38.   latch_tx();  // "reset"

  40.   //ENABLE_PORT &= ~_BV(ENABLE); // enable the chip outputs!
  41.   digitalWrite(MOTORENABLE, LOW);
  42. }


  45. void AFMotorController::latch_tx(void) {
  46.   uint8_t i;

  48.   //LATCH_PORT &= ~_BV(LATCH);
  49.   digitalWrite(MOTORLATCH, LOW);

  51.   //SER_PORT &= ~_BV(SER);
  52.   digitalWrite(MOTORDATA, LOW);

  54.   for (i=0; i<8; i++) {
  55.     //CLK_PORT &= ~_BV(CLK);
  56.     digitalWrite(MOTORCLK, LOW);

  58.     if (latch_state & _BV(7-i)) {
  59.       //SER_PORT |= _BV(SER);
  60.       digitalWrite(MOTORDATA, HIGH);
  61.     } else {
  62.       //SER_PORT &= ~_BV(SER);
  63.       digitalWrite(MOTORDATA, LOW);
  64.     }
  65.     //CLK_PORT |= _BV(CLK);
  66.     digitalWrite(MOTORCLK, HIGH);
  67.   }
  68.   //LATCH_PORT |= _BV(LATCH);
  69.   digitalWrite(MOTORLATCH, HIGH);
  70. }

  72. static AFMotorController MC;


  75. /******************************************
  76.                MOTORS
  77. ******************************************/
  78. inline void initPWM1(uint8_t freq) {
  79. #if defined(__AVR_ATmega8__) || \
  80.     defined(__AVR_ATmega48__) || \
  81.     defined(__AVR_ATmega88__) || \
  82.     defined(__AVR_ATmega168__) || \
  83.     defined(__AVR_ATmega328P__)
  84.     // use PWM from timer2A on PB3 (Arduino pin #11)
  85.     TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
  86.     TCCR2B = freq & 0x7;
  87.     OCR2A = 0;
  88. #elif defined(__AVR_ATmega1280__)
  89.     // on arduino mega, pin 11 is now PB5 (OC1A)
  90.     TCCR1A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a
  91.     TCCR1B = (freq & 0x7) | _BV(WGM12);
  92.     OCR1A = 0;
  93. #endif
  94.     pinMode(11, OUTPUT);
  95. }

  97. inline void setPWM1(uint8_t s) {
  98. #if defined(__AVR_ATmega8__) || \
  99.     defined(__AVR_ATmega48__) || \
  100.     defined(__AVR_ATmega88__) || \
  101.     defined(__AVR_ATmega168__) || \
  102.     defined(__AVR_ATmega328P__)
  103.     // use PWM from timer2A on PB3 (Arduino pin #11)
  104.     OCR2A = s;
  105. #elif defined(__AVR_ATmega1280__)
  106.     // on arduino mega, pin 11 is now PB5 (OC1A)
  107.     OCR1A = s;
  108. #endif
  109. }

  111. inline void initPWM2(uint8_t freq) {
  112. #if defined(__AVR_ATmega8__) || \
  113.     defined(__AVR_ATmega48__) || \
  114.     defined(__AVR_ATmega88__) || \
  115.     defined(__AVR_ATmega168__) || \
  116.     defined(__AVR_ATmega328P__)
  117.     // use PWM from timer2B (pin 3)
  118.     TCCR2A |= _BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b
  119.     TCCR2B = freq & 0x7;
  120.     OCR2B = 0;
  121. #elif defined(__AVR_ATmega1280__)
  122.     // on arduino mega, pin 3 is now PE5 (OC3C)
  123.     TCCR3A |= _BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c
  124.     TCCR3B = (freq & 0x7) | _BV(WGM12);
  125.     OCR3C = 0;
  126. #endif
  127.     pinMode(3, OUTPUT);
  128. }

  130. inline void setPWM2(uint8_t s) {
  131. #if defined(__AVR_ATmega8__) || \
  132.     defined(__AVR_ATmega48__) || \
  133.     defined(__AVR_ATmega88__) || \
  134.     defined(__AVR_ATmega168__) || \
  135.     defined(__AVR_ATmega328P__)
  136.     // use PWM from timer2A on PB3 (Arduino pin #11)
  137.     OCR2B = s;
  138. #elif defined(__AVR_ATmega1280__)
  139.     // on arduino mega, pin 11 is now PB5 (OC1A)
  140.     OCR3C = s;
  141. #endif
  142. }

  144. inline void initPWM3(uint8_t freq) {
  145. #if defined(__AVR_ATmega8__) || \
  146.     defined(__AVR_ATmega48__) || \
  147.     defined(__AVR_ATmega88__) || \
  148.     defined(__AVR_ATmega168__) || \
  149.     defined(__AVR_ATmega328P__)
  150.     // use PWM from timer0A / PD6 (pin 6)
  151.     TCCR0A |= _BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A
  152.     //TCCR0B = freq & 0x7;
  153.     OCR0A = 0;
  154. #elif defined(__AVR_ATmega1280__)
  155.     // on arduino mega, pin 6 is now PH3 (OC4A)
  156.     TCCR4A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a
  157.     TCCR4B = (freq & 0x7) | _BV(WGM12);
  158.     //TCCR4B = 1 | _BV(WGM12);
  159.     OCR4A = 0;
  160. #endif
  161.     pinMode(6, OUTPUT);
  162. }

  164. inline void setPWM3(uint8_t s) {
  165. #if defined(__AVR_ATmega8__) || \
  166.     defined(__AVR_ATmega48__) || \
  167.     defined(__AVR_ATmega88__) || \
  168.     defined(__AVR_ATmega168__) || \
  169.     defined(__AVR_ATmega328P__)
  170.     // use PWM from timer0A on PB3 (Arduino pin #6)
  171.     OCR0A = s;
  172. #elif defined(__AVR_ATmega1280__)
  173.     // on arduino mega, pin 6 is now PH3 (OC4A)
  174.     OCR4A = s;
  175. #endif
  176. }



  180. inline void initPWM4(uint8_t freq) {
  181. #if defined(__AVR_ATmega8__) || \
  182.     defined(__AVR_ATmega48__) || \
  183.     defined(__AVR_ATmega88__) || \
  184.     defined(__AVR_ATmega168__) || \
  185.     defined(__AVR_ATmega328P__)
  186.     // use PWM from timer0B / PD5 (pin 5)
  187.     TCCR0A |= _BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a
  188.     //TCCR0B = freq & 0x7;
  189.     OCR0B = 0;
  190. #elif defined(__AVR_ATmega1280__)
  191.     // on arduino mega, pin 5 is now PE3 (OC3A)
  192.     TCCR3A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a
  193.     TCCR3B = (freq & 0x7) | _BV(WGM12);
  194.     //TCCR4B = 1 | _BV(WGM12);
  195.     OCR3A = 0;
  196. #endif
  197.     pinMode(5, OUTPUT);
  198. }

  200. inline void setPWM4(uint8_t s) {
  201. #if defined(__AVR_ATmega8__) || \
  202.     defined(__AVR_ATmega48__) || \
  203.     defined(__AVR_ATmega88__) || \
  204.     defined(__AVR_ATmega168__) || \
  205.     defined(__AVR_ATmega328P__)
  206.     // use PWM from timer0A on PB3 (Arduino pin #6)
  207.     OCR0B = s;
  208. #elif defined(__AVR_ATmega1280__)
  209.     // on arduino mega, pin 6 is now PH3 (OC4A)
  210.     OCR3A = s;
  211. #endif
  212. }

  214. AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) {
  215.   motornum = num;
  216.   pwmfreq = freq;
  217. ……………………

  219. …………限于本文篇幅 余下代碼請從51黑下載附件…………
復制代碼

所有資料51hei提供下載:
AFMotor.rar (7.38 KB, 下載次數: 180)




作者: 幸運石頭    時間: 2019-4-24 15:50
我準備在 用這個驅動在L293D文件里面驅動 28BYJ-48步進電機，不知道具體如何操作。
作者: wzh2007    時間: 2019-7-8 09:57
感謝分享
作者: renfuquan    時間: 2019-12-26 14:07
謝謝分享
作者: renfuquan    時間: 2019-12-26 14:08
謝謝分享
作者: 786548838    時間: 2020-2-10 17:00

我準備在 用這個驅動在L293D文件里面驅動 28BYJ-48步進電機，不知道具體如何操作。
作者: cfqqjdhdh    時間: 2020-2-23 15:35
好東西，我來下載了
作者: cfqqjdhdh    時間: 2020-2-23 15:35
好東西
作者: lsm720318    時間: 2020-10-20 11:51
謝謝，這個板就是占用的IO口太多



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