당근과 채찍....후후후 둘다 좋다. 당근천국
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06-05 01:05
2019. 11. 22. 15:30
저번에 "한 번에 2개 이상의 스테핑 모터를 제어하기"를 했었는데.......
'Stepper'라이브러리가 업데이트 많이 됐군요. ㅎㅎㅎ
버전에 맞춰 업데이트해보았습니다.
이전 글에서 'Stepper.h'는 '.step()'이 동작하는 동안 다른 동작을 할 수 없다고 이야기했습니다.
(참고 : [Arduino] 'Stepper.h'는 두개의 모터를 제어할 수 없다. )
그래서 'Stepper.h'를 수정한 라이브러를 작성하고 사용하는 방법에 대한 포스팅입니다.
기존 'Stepper'를 수정하는 방법은 이전 글에서 다뤘으므로 이 포스팅은 수정된 코드만 나열합니다.
1. Stepper.h -> StepperMulti5.h
헤더는 거의 그대로입니다.
참고 : github - StepperMulti5.h
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 | /* StepperMulti5.h ( http://blog.danggun.net/2092 ) 이 라이브러리는 아두이노의 'Stepper.h'를 개조한 라이브러리입니다. (Stepper.h : http://arduino.cc/en/reference/stepper ) 모든 내용은 'Stepper.h'와 거의 동일합니다. (1.1.0버전 기준) */ /* * Stepper.h - Stepper library for Wiring/Arduino - Version 1.1.0 * * Original library (0.1) by Tom Igoe. * Two-wire modifications (0.2) by Sebastian Gassner * Combination version (0.3) by Tom Igoe and David Mellis * Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley * High-speed stepping mod by Eugene Kozlenko * Timer rollover fix by Eugene Kozlenko * Five phase five wire (1.1.0) by Ryan Orendorff * * * http://www.arduino.cc/en/Tutorial/Stepper */ // ensure this library description is only included once #ifndef StepperMulti5_h #define StepperMulti5_h // library interface description class StepperMulti5 { public: // constructors: StepperMulti5(int number_of_steps, int motor_pin_1, int motor_pin_2); StepperMulti5(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4); StepperMulti5(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4, int motor_pin_5); // speed setter method: void setSpeed(long whatSpeed); // mover method: void setStep(int number_of_steps); //'loop()'안에서 이 메소드를 호출해야 한다. void moveStep(); int version(void); private: void stepMotor(int this_step); int direction; // Direction of rotation 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; // how many pins are in use. 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; int motor_pin_5; // Only 5 phase motor unsigned long last_step_time; // time stamp in us of when the last step was taken //스템 저장 int steps_left; }; #endif | cs |
2. Stepper.cpp -> StepperMulti5.cpp
약간 바뀐 것이 있는데.....크진 않습니다.
step_number
를
this->step_number
로 바꿔줍니다.
참고 : github - StepperMulti5.cpp
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 | /* StepperMulti5.h ( http://blog.danggun.net/2092 ) 이 라이브러리는 아두이노의 'Stepper.h'를 개조한 라이브러리입니다. (Stepper.h : http://arduino.cc/en/reference/stepper ) 모든 내용은 'Stepper.h'와 거의 동일합니다. (1.1.0버전 기준) */ /* * Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.0 * * Original library (0.1) by Tom Igoe. * Two-wire modifications (0.2) by Sebastian Gassner * Combination version (0.3) by Tom Igoe and David Mellis * Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley * High-speed stepping mod by Eugene Kozlenko * Timer rollover fix by Eugene Kozlenko * Five phase five wire (1.1.0) by Ryan Orendorff * * http://www.arduino.cc/en/Tutorial/Stepper */ #include "Arduino.h" //헤더 연결 변경 #include "StepperMulti5.h" /* * two-wire constructor. * Sets which wires should control the motor. */ StepperMulti5::StepperMulti5(int number_of_steps, int motor_pin_1, int motor_pin_2) { //스탭초기화 this->steps_left = 0; this->step_number = 0; // which step the motor is on this->direction = 0; // motor direction this->last_step_time = 0; // time stamp in us 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 others to 0: this->motor_pin_3 = 0; this->motor_pin_4 = 0; this->motor_pin_5 = 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. */ StepperMulti5::StepperMulti5(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4) { //스탭초기화 this->steps_left = 0; this->step_number = 0; // which step the motor is on this->direction = 0; // motor direction this->last_step_time = 0; // time stamp in us 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); // When there are 4 pins, set the others to 0: this->motor_pin_5 = 0; // pin_count is used by the stepMotor() method: this->pin_count = 4; } /* * constructor for five phase motor with five wires * Sets which wires should control the motor. */ StepperMulti5::StepperMulti5(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4, int motor_pin_5) { //스탭초기화 this->steps_left = 0; this->step_number = 0; // which step the motor is on this->direction = 0; // motor direction this->last_step_time = 0; // time stamp in us 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; this->motor_pin_5 = motor_pin_5; // 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); pinMode(this->motor_pin_5, OUTPUT); // pin_count is used by the stepMotor() method: this->pin_count = 5; } /* * Sets the speed in revs per minute */ void StepperMulti5::setSpeed(long whatSpeed) { this->step_delay = 60L * 1000L * 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 StepperMulti5::setStep(int steps_to_move) { //전역 번수에 스탭을 저장한다. this->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; } //스탭을 진행 한다. moveStep(); } /* * loop안에서 호출하여 스탭모터의 동작을 제어한다. */ void StepperMulti5::moveStep() { // decrement the number of steps, moving one step each time: // while -> if // 'while'의 역할을 'loop'가 대신 해주기 때문에 여기서는 'while'가 필요없다. //while (steps_left > 0) if(this->steps_left > 0) { unsigned long now = micros(); // move only if the appropriate delay has passed: if (now - this->last_step_time >= this->step_delay) { // get the timeStamp of when you stepped: this->last_step_time = now; // 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--; } //스탭 남은 개수를 전역변수에 저장한다. this->steps_left--;// decrement the steps left: // step the motor to step number 0, 1, ..., {3 or 10} if (this->pin_count == 5) stepMotor(this->step_number % 10); else stepMotor(this->step_number % 4); } } } /* * Moves the motor forward or backwards. */ void StepperMulti5::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; } } if (this->pin_count == 5) { switch (thisStep) { case 0: // 01101 digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, HIGH); digitalWrite(motor_pin_3, HIGH); digitalWrite(motor_pin_4, LOW); digitalWrite(motor_pin_5, HIGH); break; case 1: // 01001 digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, HIGH); digitalWrite(motor_pin_3, LOW); digitalWrite(motor_pin_4, LOW); digitalWrite(motor_pin_5, HIGH); break; case 2: // 01011 digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, HIGH); digitalWrite(motor_pin_3, LOW); digitalWrite(motor_pin_4, HIGH); digitalWrite(motor_pin_5, HIGH); break; case 3: // 01010 digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, HIGH); digitalWrite(motor_pin_3, LOW); digitalWrite(motor_pin_4, HIGH); digitalWrite(motor_pin_5, LOW); break; case 4: // 11010 digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, HIGH); digitalWrite(motor_pin_3, LOW); digitalWrite(motor_pin_4, HIGH); digitalWrite(motor_pin_5, LOW); break; case 5: // 10010 digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, LOW); digitalWrite(motor_pin_3, LOW); digitalWrite(motor_pin_4, HIGH); digitalWrite(motor_pin_5, LOW); break; case 6: // 10110 digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, LOW); digitalWrite(motor_pin_3, HIGH); digitalWrite(motor_pin_4, HIGH); digitalWrite(motor_pin_5, LOW); break; case 7: // 10100 digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, LOW); digitalWrite(motor_pin_3, HIGH); digitalWrite(motor_pin_4, LOW); digitalWrite(motor_pin_5, LOW); break; case 8: // 10101 digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, LOW); digitalWrite(motor_pin_3, HIGH); digitalWrite(motor_pin_4, LOW); digitalWrite(motor_pin_5, HIGH); break; case 9: // 00101 digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, LOW); digitalWrite(motor_pin_3, HIGH); digitalWrite(motor_pin_4, LOW); digitalWrite(motor_pin_5, HIGH); break; } } } /* version() returns the version of the library: */ int StepperMulti5::version(void) { return 5; } | cs |
3. 테스트
참고 : github - StepperMulti5_Examples.ino
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | #include <StepperMulti5.h> StepperMulti5 stepper(200, 12, 11, 10, 9); StepperMulti5 stepper2(200, 7, 6, 5, 4); void setup() { Serial.begin(9600); stepper.setSpeed(30); stepper2.setSpeed(60); } void loop() { if (Serial.available()) { int steps = Serial.parseInt(); if(steps != 0) { stepper.setStep(steps); stepper2.setStep(steps); //stepper.setStep(200); //stepper2.setStep(200); Serial.print("steps : "); Serial.println(steps); } } stepper.moveStep(); stepper2.moveStep(); } | cs |
이제 테스트를 해봅시다.
마무리
완성된 샘플 : Github - Arduino_StepperMulti/StepperMulti5/
라이브러리 다운로드 : 
StepperMulti5.zip
StepperMulti5.zip출력 버전에 맞춰 이름을 바꿀 예정입니다.
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감사합니다. 좋은 날 되세요!!
zip파일로도 부탁드립니다!!
네~ 추가 하였습니다.
안녕하세요 당근천국님 혹시 스텝모터 핀 4개 무엇을 결선 하였는지 알려주실수 있을까요? Nema17 a4988은 dir step pin만 넣으면 되는데 소스에서 4개의 pin이 입력된게 무엇이 입력됬는지 알수가 없네요
결선은 이 포스팅 기준입니다.
https://blog.danggun.net/1810
제가 연결한건 크게 의미가 없는것이 이 라이브러리는 아두이노 표준 라이브러리인 'Stepper'를 수정해서 만들어진 라이브러리입니다.
'Stepper'를 사용할 수 없는 모터드라이버는 사용할 수 없습니다.