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第1节/arduino/sketch_sep17a/sketch_sep17a.ino

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+#include <Arduino.h>
+
+
+//stm32duino
+//步进电机驱动 需要 3个信号线进行控制
+const int ena_pin = PA4;
+const int dir_pin = PA5;
+const int plu_pin = PA6;
+
+void setup()
+{
+  //设置引脚工作，模式
+  pinMode(ena_pin, OUTPUT);
+  pinMode(dir_pin, OUTPUT);
+  pinMode(plu_pin, OUTPUT);
+
+  //使能端开启
+  digitalWrite(ena_pin, LOW);
+}
+
+void driver_run(int plu, int duration_us)
+{
+  //判断电机旋转方向
+  if (plu > 0)
+  {
+    digitalWrite(dir_pin, HIGH);
+  }
+  else
+  {
+    digitalWrite(dir_pin, LOW);
+  }
+
+  //输出脉冲信号
+  for (int i = 0 ; i < abs(plu); i ++)
+  {
+    digitalWrite(plu_pin, HIGH);
+    delayMicroseconds(duration_us);
+    digitalWrite(plu_pin, LOW);
+    delayMicroseconds(duration_us);
+  }
+}
+
+int main()
+{
+  init();
+  setup();
+
+  while (1)
+  {
+    //旋转180°
+    driver_run(6400 / 2, 50);
+    delay(1000);
+    //旋转-90°
+    driver_run(-6400 / 4, 100);
+    delay(1000);
+  }
+  return 0;
+}
+
+
+
+//串口烧录失败 sudo chmod 777 /dev/tty*
+// sudo usermod -aG dialout 用户名