stepmotor._c

AVR学习开发 板

/********************************************************************
                 步进电机驱动
				 
	说明：用MEGA8+ULN2003驱动四相六线步进电机
	      MEGA8所用端口为PD0,PD1,PD2,PD3		
		  晶振使用MEGA8内部8M	
    实现功能：电机快速正转360度，反转360度
	              慢速正转360度，反转360度
				                       作者：张国旗
									   2008年12月31号
*******************************************************************/
#define uchar unsigned char
#define motor_DDR   DDRD
#define motor_on  	motor_DDR|=BIT(PD0)|BIT(PD1)|BIT(PD2)|BIT(PD3)
#define motor_out	PORTD
#define motor_pin	PIND 												  

const uchar time_sequence1[]={0x10,0x30,0x20,0xa0,0x80,0xc0,0x40,0x50};	//正转时序 3.75度
const uchar time_sequence2[]={0x10,0x50,0x40,0xc0,0x80,0xa0,0x20,0x30};	//倒转时序 3.75度
const uchar time_sequence3[]={0x10,0x20,0x80,0x40};	//正转时序 7.5度
const uchar time_sequence4[]={0x10,0x40,0x80,0x20};	//倒转时序 7.5度

//====================四相六线电机驱动函数==================================
//============正转3.75度==========
void corotation375(unsigned int speed) 
{
    uchar i;
   	for (i=0;i<8;i++)
 	{
	    motor_out=((motor_pin&0x0f)|(time_sequence1[i]|0x0f));
	    delay(speed);
	}
}
//==============倒转3.75度=========
void reversal375(unsigned int speed) 
{
    uchar i;
   	for (i=0;i<8;i++)
 	{
	    motor_out=((motor_pin&0x0f)|(time_sequence2[i]|0x0f));
	    delay(speed);
	}
}
//=============正转7.5度===========
void corotation75(unsigned int speed) 
{
    uchar i;
   	for (i=0;i<4;i++)
 	{
	    motor_out=((motor_pin&0x0f)|(time_sequence3[i]|0x0f));
	    delay(speed);
	}
}
//=============倒转7.5度==========
void reversal75(unsigned int speed) 
{
    uchar i;
   	for (i=0;i<4;i++)
 	{
	    motor_out=((motor_pin&0x0f)|(time_sequence4[i]|0x0f));
	    delay(speed);
	}
}
//=======================================================================
//====================主程序================
void motorstar (void)
{
    unsigned int i,time,speeddat;
    motor_on;
	time=12;
	speeddat=5;
	    for(i=0;i<time;i++)
		{
	        corotation375(speeddat);
		}
		for(i=0;i<time;i++)
		{
	        reversal375(speeddat);
		}
		for(i=0;i<time;i++)
		{
	        corotation75(speeddat);
		}
		for(i=0;i<time;i++)
		{
	        reversal75(speeddat);
		}
	
}