Arduino範例1：用Arduino玩 28BYJ-48+ULN2003驅動步進馬達

Arduino範例1：用Arduino玩 28BYJ-48+ULN2003驅動步進馬達

1. 準備材料：
   
   圖(1). Arduino UNO(控制板) x1
   圖(2). 28BYJ-48(步進馬達) x1
   圖(3). ULN2003(步進馬達驅動器) x1
   
   圖(1). Arduino UNO(控制板) x1
   
   
   圖(2). 28BYJ-48(步進馬達) x1
   
   
   圖(3). ULN2003(步進馬達驅動器) x1
2. 連接1：步進馬達+步進馬達驅動器(會有防呆裝置)
   
3. 連接2：控制板+步進馬達驅動器+電腦
   
4. 上傳程式
   

   Example Code

   
   

   // This Arduino example demonstrates bidirectional operation of a
   // 28BYJ-48, using a ULN2003 interface board to drive the stepper.

   // The 28BYJ-48 motor is a 4-phase, 8-beat motor, geared down by

   // a factor of 68. One bipolar winding is on motor pins 1 & 3 and

   // the other on motor pins 2 & 4. The step angle is 5.625/64 and the
   // operating Frequency is 100pps. Current draw is 92mA.
   ////////////////////////////////////////////////
   
   //declare variables for the motor pins
   int motorPin1 = 8;    // Blue   - 28BYJ48 pin 1
   int motorPin2 = 9;    // Pink   - 28BYJ48 pin 2
   int motorPin3 = 10;    // Yellow - 28BYJ48 pin 3
   int motorPin4 = 11;    // Orange - 28BYJ48 pin 4
                           // Red    - 28BYJ48 pin 5 (VCC)
   
   int motorSpeed = 1200;  //variable to set stepper speed
   int count = 0;          // count of steps made
   int countsperrev = 512; // number of steps per full revolution
   int lookup[8] = {B01000, B01100, B00100, B00110, B00010, B00011, B00001, B01001};
   
   //////////////////////////////////////////////////////////////////////////////
   void setup() {
     //declare the motor pins as outputs
     pinMode(motorPin1, OUTPUT);
     pinMode(motorPin2, OUTPUT);
     pinMode(motorPin3, OUTPUT);
     pinMode(motorPin4, OUTPUT);
     Serial.begin(9600);
   }
   
   //////////////////////////////////////////////////////////////////////////////
   void loop(){
     if(count < countsperrev )
       clockwise();
     else if (count == countsperrev * 2)
       count = 0;
     else
       anticlockwise();
     count++;
   }
   
   //////////////////////////////////////////////////////////////////////////////
   //set pins to ULN2003 high in sequence from 1 to 4
   //delay "motorSpeed" between each pin setting (to determine speed)
   void anticlockwise()
   {
     for(int i = 0; i < 8; i++)
     {
       setOutput(i);
       delayMicroseconds(motorSpeed);
     }
   }
   
   void clockwise()
   {
     for(int i = 7; i >= 0; i--)
     {
       setOutput(i);
       delayMicroseconds(motorSpeed);
     }
   }
   
   void setOutput(int out)
   {
     digitalWrite(motorPin1, bitRead(lookup[out], 0));
     digitalWrite(motorPin2, bitRead(lookup[out], 1));
     digitalWrite(motorPin3, bitRead(lookup[out], 2));
     digitalWrite(motorPin4, bitRead(lookup[out], 3));
   }
5. 參考網址：
   http://4tronix.co.uk/arduino/Stepper-Motors.php
6. 3D創意動力機械教室-(機器人教室) 開跑囉！