# Arduino 步進馬達
###### tags: `Arduino`

## 目錄

[TOC]

## library

#include <Stepper.h>

## 運作原理

### 基本原理

基本上分兩種，單極步進馬達和雙極步進馬達。它們之間最大的區別就是兩種不同類型都有各自的捲繞裝置，而且它們各自的捲繞裝置是會影響它們的步進馬達的控制方式。

基本上外部有四個線圈，內部中心有一個磁鐵。輪流讓線圈接地(GND)，即可改變線圈磁性，就可以讓在中間的磁鐵輪流轉動。


這個影片獎的不錯

<iframe width="560" height="315" src="https://www.youtube.com/embed/eyqwLiowZiU" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>

### 單極步進馬達


### 雙極步進馬達


## 圖片


## Stepper 宣告

Stepper(steps, pin1, pin2);
Stepper(steps, pin1, pin2, pin3, pin4);

- steps：必須設定為你的馬達實際上一圈會有多少步，即 (360 / 每步轉幾度)，步進角在查詢的規格上應該會寫
- pin1, pin2：腳位
- pin3, pin4：腳位

example

#include <Stepper.h>
const int stepsPerRevolution = 200;
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11); // initialize the stepper library on pins 8 through 11:

void setup() {}

void loop() {}

## Stepper: setSpeed(rpms)
這個函式並不會讓馬達轉動，只是設定他的速度(初始化)當呼叫 Step()函式時才會開始轉動

setSpeed(rpms);

- rpms：馬達每分鐘轉的速度(正數)

## Stepper: step(steps)

啟動馬達行進steps步數。setSpeed() 定義速度，正的表示一個方向， 負數表示反方向。

step(steps);

## 範例

#include <Stepper.h>
#define STEPS 200  //定義步進馬達每圈的步數

//steps:代表馬達轉完一圈需要多少步數。如果馬達上有標示每步的度數，
//將360除以這個角度，就可以得到所需要的步數(例如：360/3.6=100)。(int)

Stepper stepper(STEPS, 11, 10, 9, 8);

void setup(){
stepper.setSpeed(140);     // 將馬達的速度設定成140RPM 最大  150~160
}

void loop()
{
stepper.step(100);//正半圈
delay(1000);
stepper.step(-100);//反半圈
delay(1000);
stepper.step(200);//正1圈
delay(1000);
stepper.step(-200);//反1圈
delay(1000);
stepper.step(300);//正1圈半
delay(1000);
stepper.step(-300);//反1圈半
delay(1000);
stepper.step(1600);//正8圈
delay(1000);
stepper.step(-1600);//反8圈
delay(1000);
}

#include <Stepper.h>

const int stepsPerRevolution = 200;  // change this to fit the number of steps per revolution
// for your motor

// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);

void setup() {
  // set the speed at 60 rpm:
  myStepper.setSpeed(60);
  // initialize the serial port:
  Serial.begin(9600);
}

void loop() {
  // step one revolution  in one direction:
  Serial.println("clockwise");
  myStepper.step(stepsPerRevolution);
  delay(500);

  // step one revolution in the other direction:
  Serial.println("counterclockwise");
  myStepper.step(-stepsPerRevolution);
  delay(500);
}

## 其他

當然也可以不要用官方的函式，使用 digitalWrite 去慢慢寫也可以。

int apin = 8;
int bpin = 9;
int cpin = 10;
int dpin = 11;
int delayTime = 10;

void setup() {
  pinMode(apin, OUTPUT);
  pinMode(bpin, OUTPUT);
  pinMode(cpin, OUTPUT);
  pinMode(dpin, OUTPUT);
}

void loop() {
  digitalWrite(apin, HIGH);   // 變成高電位
  delay(delayTime);
  digitalWrite(apin, LOW); 

  digitalWrite(bpin, HIGH);   // 變成高電位
  delay(delayTime);
  digitalWrite(bpin, LOW);

  digitalWrite(cpin, HIGH);   // 變成高電位
  delay(delayTime);
  digitalWrite(cpin, LOW);

  digitalWrite(dpin, HIGH);   // 變成高電位
  delay(delayTime);
  digitalWrite(dpin, LOW);
}

int t= 2; //t會影響轉速，t越小轉越快，太小會轉不動

void setup() {
  pinMode(8,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  pinMode(11,OUTPUT);
  Serial.begin(9600);
}

void loop() {
  for(int i = 1; i <= 512; i++){
    stepForward();
    Serial.println(String(i)); //在序列傅印出
  }
  Serial.println("One round");
  delay(1000);
  
  for(int i = 1; i <= 512; i++){
    stepBack();
    Serial.println(String(i)); //在序列傅印出
  }
  Serial.println("One round");
  delay(1000);
}
void stepForward(){  //向前
  digitalWrite(8,1);
  digitalWrite(9,0);
  digitalWrite(10,0);
  digitalWrite(11,0);
  delay(t);

  digitalWrite(8,0);
  digitalWrite(9,1);
  digitalWrite(10,0);
  digitalWrite(11,0);
  delay(t);

  digitalWrite(8,0);
  digitalWrite(9,0);
  digitalWrite(10,1);
  digitalWrite(11,0);
  delay(t);

  digitalWrite(8,0);
  digitalWrite(9,0);
  digitalWrite(10,0);
  digitalWrite(11,1);
  delay(t);
}

void stepBack(){  //向後
  digitalWrite(8,0);
  digitalWrite(9,0);
  digitalWrite(10,0);
  digitalWrite(11,1);
  delay(t);

  digitalWrite(8,0);
  digitalWrite(9,0);
  digitalWrite(10,1);
  digitalWrite(11,0);
  delay(t);

  digitalWrite(8,0);
  digitalWrite(9,1);
  digitalWrite(10,0);
  digitalWrite(11,0);
  delay(t);

  digitalWrite(8,1);
  digitalWrite(9,0);
  digitalWrite(10,0);
  digitalWrite(11,0);
  delay(t);
}

## 參考資料
- [mBlock & Arduino（16）控制步進馬達](https://openhome.cc/Gossip/CodeData/mBlockArduino/mBlockArduino16.html)
- [Arduino與步進馬達](https://sites.google.com/site/zsgititit/home/arduino/arduino-yu-bu-jin-ma-da)
- [Stepper Library](https://www.arduino.cc/en/reference/stepper)
- [Arduino筆記(8)：控制步進馬達](https://atceiling.blogspot.com/2013/04/arduino.html)