关于Arduino 步进电机Stepper库的一些想法

官方提供了一些库，使Arduino入门起来更加快速，我们连原理都不用懂，就能通过函数控制终端。但是，这样也带来了很多的缺陷，比如，库函数的功能有限，有些无法实现。然后还有库函数因为要考虑其他的情况，你是四线的还是两线的，于是整个程序就会写的很麻烦。

我想用Sony无线手柄控制电机停止、顺时针、逆时针转动，按Start键能启动。但是库里根本没有这个功能。

还有我发现，一旦我的无线手柄里面加入了电机的相关程序，无线手柄与接收器的通信就会变迟钝，往往需要按着才能等到电机反向转动，而且有时候我改变方向，结果它转了一圈又回到原来方向了，完全就是乱套了。不过，中断还是能照常反应，但是还是会出现延迟现象。

后来看了一下代码，库文件只有在转完一圈才会跳出循环，所以按键的消息根本没办法马上反应。

后来就直接根据库文件写了函数，反应很迅速！！！！

下面是库文件的函数

#ifndef Stepper_h
#define Stepper_h

// library interface description
class Stepper {
  public:
    // constructors:
    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);

    // speed setter method:
    void setSpeed(long whatSpeed);

    // mover method:
    void step(int number_of_steps);

    int version(void);

  private:
    void stepMotor(int this_step);

    int direction;        // Direction of rotation
    int speed;          // Speed in RPMs
    unsigned long step_delay;    // delay between steps, in ms, based on speed
    int number_of_steps;      // total number of steps this motor can take
    int pin_count;        // whether you're driving the motor with 2 or 4 pins
    int step_number;        // which step the motor is on

    // motor pin numbers:
    int motor_pin_1;
    int motor_pin_2;
    int motor_pin_3;
    int motor_pin_4;

    long last_step_time;      // time stamp in ms of when the last step was taken
};

#endif

#include "Arduino.h"
#include "Stepper.h"

/*
 * two-wire constructor.
 * Sets which wires should control the motor.
 */
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
{
  this->step_number = 0;      // which step the motor is on
  this->speed = 0;        // the motor speed, in revolutions per minute
  this->direction = 0;      // motor direction
  this->last_step_time = 0;    // time stamp in ms of the last step taken
  this->number_of_steps = number_of_steps;    // total number of steps for this motor

  // Arduino pins for the motor control connection:
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;

  // setup the pins on the microcontroller:
  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);

  // When there are only 2 pins, set the other two to 0:
  this->motor_pin_3 = 0;
  this->motor_pin_4 = 0;

  // pin_count is used by the stepMotor() method:
  this->pin_count = 2;
}


/*
 *   constructor for four-pin version
 *   Sets which wires should control the motor.
 */

Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
{
  this->step_number = 0;      // which step the motor is on
  this->speed = 0;        // the motor speed, in revolutions per minute
  this->direction = 0;      // motor direction
  this->last_step_time = 0;    // time stamp in ms of the last step taken
  this->number_of_steps = number_of_steps;    // total number of steps for this motor

  // Arduino pins for the motor control connection:
  this->motor_pin_1 = motor_pin_1;
  this->motor_pin_2 = motor_pin_2;
  this->motor_pin_3 = motor_pin_3;
  this->motor_pin_4 = motor_pin_4;

  // setup the pins on the microcontroller:
  pinMode(this->motor_pin_1, OUTPUT);
  pinMode(this->motor_pin_2, OUTPUT);
  pinMode(this->motor_pin_3, OUTPUT);
  pinMode(this->motor_pin_4, OUTPUT);

  // pin_count is used by the stepMotor() method:
  this->pin_count = 4;
}

/*
  Sets the speed in revs per minute

*/
void Stepper::setSpeed(long whatSpeed)
{
  this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
}

/*
  Moves the motor steps_to_move steps.  If the number is negative,
   the motor moves in the reverse direction.
 */
void Stepper::step(int steps_to_move)
{
  int steps_left = abs(steps_to_move);  // how many steps to take

  // determine direction based on whether steps_to_mode is + or -:
  if (steps_to_move > 0) {this->direction = 1;}
  if (steps_to_move < 0) {this->direction = 0;}


  // decrement the number of steps, moving one step each time:
  while(steps_left > 0) {
  // move only if the appropriate delay has passed:
  if (millis() - this->last_step_time >= this->step_delay) {
      // get the timeStamp of when you stepped:
      this->last_step_time = millis();
      // increment or decrement the step number,
      // depending on direction:
      if (this->direction == 1) {
        this->step_number++;
        if (this->step_number == this->number_of_steps) {
          this->step_number = 0;
        }
      }
      else {
        if (this->step_number == 0) {
          this->step_number = this->number_of_steps;
        }
        this->step_number--;
      }
      // decrement the steps left:
      steps_left--;
      // step the motor to step number 0, 1, 2, or 3:
      stepMotor(this->step_number % 4);
    }
  }
}

/*
 * Moves the motor forward or backwards.
 */
void Stepper::stepMotor(int thisStep)
{
  if (this->pin_count == 2) {
    switch (thisStep) {
      case 0: /* 01 */
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      break;
      case 1: /* 11 */
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, HIGH);
      break;
      case 2: /* 10 */
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      break;
      case 3: /* 00 */
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, LOW);
      break;
    }
  }
  if (this->pin_count == 4) {
    switch (thisStep) {
      case 0:    // 1010
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      digitalWrite(motor_pin_3, HIGH);
      digitalWrite(motor_pin_4, LOW);
      break;
      case 1:    // 0110
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      digitalWrite(motor_pin_3, HIGH);
      digitalWrite(motor_pin_4, LOW);
      break;
      case 2:    //0101
      digitalWrite(motor_pin_1, LOW);
      digitalWrite(motor_pin_2, HIGH);
      digitalWrite(motor_pin_3, LOW);
      digitalWrite(motor_pin_4, HIGH);
      break;
      case 3:    //1001
      digitalWrite(motor_pin_1, HIGH);
      digitalWrite(motor_pin_2, LOW);
      digitalWrite(motor_pin_3, LOW);
      digitalWrite(motor_pin_4, HIGH);
      break;
    }
  }
}

/*
  version() returns the version of the library:
*/
int Stepper::version(void)
{
  return 4;
}