中断控制电机反向转动
1:
2: /*
3: Stepper Motor Control - one revolution
4:
5: This program drives a unipolar or bipolar stepper motor.
6: The motor is attached to digital pins 8 - 11 of the Arduino.
7:
8: The motor should revolve one revolution in one direction, then
9: one revolution in the other direction.
10:
11:
12: Created 11 Mar. 2007
13: Modified 30 Nov. 2009
14: by Tom Igoe
15:
16: */
17:
18: #include <Stepper.h>
19:
20: int stepsPerRevolution = 200;
21: int pbIn = 5;
22:
23:
24: Stepper myStepper(stepsPerRevolution, 9,7,8,6);
25:
26: void setup() {
27: attachInterrupt(pbIn,stateChange,RISING);
28: // set the speed at 60 rpm:
29: myStepper.setSpeed(60);
30: // initialize the serial port:
31: Serial.begin(9600);
32: }
33:
34: void loop() {
35: // step one revolution in one direction:
36: Serial.println("clockwise");
37: myStepper.step(stepsPerRevolution);
38: delay(500);
39: }
40:
41: void stateChange()
42: {
43: stepsPerRevolution = -stepsPerRevolution;
44: }
不知道为什么，当行程开关按下的时间不一样时，会出现这样一种怪现象：电机先反向转了一圈，然后又恢复了原来的方向，有点诡异。而且电机对开关的响应还是迟钝，大概这个也是Arduino的缺点，不过肯定有优化的方法，也可能是我对电机的库函数的理解不对！
