프로그래밍/하드웨어
[Arduino] 한 번에 2개 이상의 스테핑 모터를 제어하기 - StepperMulti5
당근천국
2019. 11. 22. 15:30
* 공개프로젝트로 전환된 포스팅입니다. *
참고 : [Arduino] StepperAsync5 - 비동기 스탭 모터 라이브러리
저번에 "한 번에 2개 이상의 스테핑 모터를 제어하기"를 했었는데.......
'Stepper'라이브러리가 업데이트 많이 됐군요. ㅎㅎㅎ
버전에 맞춰 업데이트해보았습니다.
연관글 영역
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
/*
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
2. Stepper.cpp -> StepperMulti5.cpp
약간 바뀐 것이 있는데.....크진 않습니다.
step_number
를
this->step_number
로 바꿔줍니다.
참고 : github - StepperMulti5.cpp
/*
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;
}
3. 테스트
이제 테스트 코드를 만들어 봅시다.
참고 : github - StepperMulti5_Examples.ino
#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();
}
SteppingMotor_ULN2003_003.fzz
0.02MB
이제 테스트를 해봅시다.
마무리
완성된 샘플 : Github - Arduino_StepperMulti5/
라이브러리 다운로드 :
이제는 라이브러리에 출력 버전이 있네요.
출력 버전에 맞춰 이름을 바꿀 예정입니다.