利用树莓派控制步进电机——C语言

/******************************************************
*   File name: stepMotor.c
*      Author: Jason Dai
*        Date: 2015/01/26
******************************************************/
#include <wiringPi.h>
#include <stdio.h>

#define IN1 0    // wiringPi GPIO0(pin11)
#define IN2 1
#define IN3 2
#define IN4 3

void setStep(int a, int b, int c, int d)
{
digitalWrite(IN1, a);
digitalWrite(IN2, b);
digitalWrite(IN3, c);
digitalWrite(IN4, d);
}

void stop()
{
setStep(0, 0, 0, 0);
}

void forward(int t, int steps)
{
int i;

for(i = 0; i < steps; i++){
setStep(1, 0, 0, 0);
delay(t);
setStep(0, 1, 0, 0);
delay(t);
setStep(0, 0, 1, 0);
delay(t);
setStep(0, 0, 0, 1);
delay(t);
}
}

void backward(int t, int steps)
{
int i;

for(i = 0; i < steps; i++){
setStep(0, 0, 0, 1);
delay(t);
setStep(0, 0, 1, 0);
delay(t);
setStep(0, 1, 0, 0);
delay(t);
setStep(1, 0, 0, 0);
delay(t);
}
}

int main(void) {
if (-1 == wiringPiSetup()) {
printf("Setup wiringPi failed!");
return 1;
}

/* set mode to output */
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);

while (1){
printf("forward...\n");
forward(3, 256);

printf("stop...\n");
stop();
delay(2000);       // 2s

printf("backward...\n");
backward(3, 512);  // 512 steps ---- 360 angle

printf("stop...\n");
stop();
delay(2000);       // 2s
}

return 0;
}

gcc stepMotor.c -o stepMotor -lwiringPi

./stepMotor