如何解决Arduino AccelStepper库未反转方向
我正在运行Arduino Mega，LCD Sheild 1602，TB6600驱动程序，Nema 17电机。
代码：https://pastebin.com/6HGLhADF
“运行”的代码工作正常。
我尝试了几种不同的选项（例如设置负值或moveTo）来“重置”电动机，但是当我选择“重置”菜单项时，我希望电动机逆时针运行。速度会改变，但方向不会改变。
有人可以帮助我理解为什么电动机没有反向运行吗？
代码也可以根据需要粘贴在下面：我以Paul Siewerts LCD教程为基础。
Name : LCD Button Shield Menu
Author : Paul Siewert
Created : June 14,2016
Last Modified: June 14,2016
Version : 1.0
Notes : This code is for use with an Arduino Uno and LCD/button shield. The
intent is for anyone to use this program to give them a starting
program with a fully functional menu with minimal modifications
required by the user.
License : This program is free software. You can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation,either version 3 of the License,or
(at your option) any later version.
This program is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
***************************************************************************************/
/*
This program is designed to get you as close as possible to a finished menu for the standard Arduino Uno LCD/button shield. The only required modifications
are to add as menu items to the master menu (menuItems array) and then modify/adjust the void functions below for each of those selections.
*/
#include <AccelStepper.h>
// defines pins numbers
//Motor Pins
const int stepPin = 11;
const int dirPin = 2;
const int enPin = 13;
AccelStepper stepper(1,stepPin,dirPin,enPin);
// defines variables
int maxStepSpeed = 10000;
//long stepSpeed = 316.0299659;
//long stepResetSpeed = -1000;
//int forwarddir = 44802;
// You can have up to 10 menu items in the menuItems[] array below without having to change the base programming at all. Name them however you'd like. Beyond 10 items,you will have to add additional "cases" in the switch/case
// section of the operateMainMenu() function below. You will also have to add additional void functions (i.e. menuItem11,menuItem12,etc.) to the program.
String menuItems[] = {"Start","Reset"};
// Navigation button variables
int readKey;
// Menu control variables
int menuPage = 0;
int maxMenuPages = round(((sizeof(menuItems) / sizeof(String)) / 2) + .5);
int cursorPosition = 0;
// Creates 3 custom characters for the menu display
byte downArrow[8] = {
0b00100,// *
0b00100,// *
0b10101,// * * *
0b01110,// ***
0b00100 // *
};
byte upArrow[8] = {
0b00100,// *
0b01110,// ***
0b10101,// * * *
0b00100,// *
0b00100 // *
};
byte menuCursor[8] = {
B01000,// *
B00100,// *
B00010,// *
B00001,// *
B00010,// *
B00100,// *
B01000,// *
B00000 //
};
#include <LiquidCrystal.h>
// Setting the LCD shields pins
LiquidCrystal lcd(8,9,4,5,6,7);
void setup() {
// Initializes serial communication
Serial.begin(9600);
// Initializes and clears the LCD screen
lcd.begin(16,2);
lcd.clear();
// Creates the byte for the 3 custom characters
lcd.createChar(0,menuCursor);
lcd.createChar(1,upArrow);
lcd.createChar(2,downArrow);
stepper.setMaxSpeed(maxStepSpeed);
// stepper.setSpeed(stepSpeed);
// stepper.moveTo(44803);
stepper.disableOutputs();
}
void loop() {
mainMenuDraw();
drawCursor();
operateMainMenu();
}
// This function will generate the 2 menu items that can fit on the screen. They will change as you scroll through your menu. Up and down arrows will indicate your current menu position.
void mainMenuDraw() {
Serial.print(menuPage);
lcd.clear();
lcd.setCursor(1,0);
lcd.print(menuItems[menuPage]);
lcd.setCursor(1,1);
lcd.print(menuItems[menuPage + 1]);
if (menuPage == 0) {
lcd.setCursor(15,1);
lcd.write(byte(2));
} else if (menuPage > 0 and menuPage < maxMenuPages) {
lcd.setCursor(15,1);
lcd.write(byte(2));
lcd.setCursor(15,0);
lcd.write(byte(1));
} else if (menuPage == maxMenuPages) {
lcd.setCursor(15,0);
lcd.write(byte(1));
}
}
// When called,this function will erase the current cursor and redraw it based on the cursorPosition and menuPage variables.
void drawCursor() {
for (int x = 0; x < 2; x++) { // Erases current cursor
lcd.setCursor(0,x);
lcd.print(" ");
}
// The menu is set up to be progressive (menuPage 0 = Item 1 & Item 2,menuPage 1 = Item 2 & Item 3,menuPage 2 = Item 3 & Item 4),so
// in order to determine where the cursor should be you need to see if you are at an odd or even menu page and an odd or even cursor position.
if (menuPage % 2 == 0) {
if (cursorPosition % 2 == 0) { // If the menu page is even and the cursor position is even that means the cursor should be on line 1
lcd.setCursor(0,0);
lcd.write(byte(0));
}
if (cursorPosition % 2 != 0) { // If the menu page is even and the cursor position is odd that means the cursor should be on line 2
lcd.setCursor(0,1);
lcd.write(byte(0));
}
}
if (menuPage % 2 != 0) {
if (cursorPosition % 2 == 0) { // If the menu page is odd and the cursor position is even that means the cursor should be on line 2
lcd.setCursor(0,1);
lcd.write(byte(0));
}
if (cursorPosition % 2 != 0) { // If the menu page is odd and the cursor position is odd that means the cursor should be on line 1
lcd.setCursor(0,0);
lcd.write(byte(0));
}
}
}
void operateMainMenu() {
int activeButton = 0;
while (activeButton == 0) {
int button;
readKey = analogRead(0);
if (readKey < 790) {
delay(100);
readKey = analogRead(0);
}
button = evaluateButton(readKey);
switch (button) {
case 0: // When button returns as 0 there is no action taken
break;
case 1: // This case will execute if the "forward" button is pressed
button = 0;
switch (cursorPosition) { // The case that is selected here is dependent on which menu page you are on and where the cursor is.
case 0:
menuItem1();
break;
case 1:
menuItem2();
break;
}
activeButton = 1;
mainMenuDraw();
drawCursor();
break;
case 2:
button = 0;
if (menuPage == 0) {
cursorPosition = cursorPosition - 1;
cursorPosition = constrain(cursorPosition,((sizeof(menuItems) / sizeof(String)) - 1));
}
if (menuPage % 2 == 0 and cursorPosition % 2 == 0) {
menuPage = menuPage - 1;
menuPage = constrain(menuPage,maxMenuPages);
}
if (menuPage % 2 != 0 and cursorPosition % 2 != 0) {
menuPage = menuPage - 1;
menuPage = constrain(menuPage,maxMenuPages);
}
cursorPosition = cursorPosition - 1;
cursorPosition = constrain(cursorPosition,((sizeof(menuItems) / sizeof(String)) - 1));
mainMenuDraw();
drawCursor();
activeButton = 1;
break;
case 3:
button = 0;
if (menuPage % 2 == 0 and cursorPosition % 2 != 0) {
menuPage = menuPage + 1;
menuPage = constrain(menuPage,maxMenuPages);
}
if (menuPage % 2 != 0 and cursorPosition % 2 == 0) {
menuPage = menuPage + 1;
menuPage = constrain(menuPage,maxMenuPages);
}
cursorPosition = cursorPosition + 1;
cursorPosition = constrain(cursorPosition,((sizeof(menuItems) / sizeof(String)) - 1));
mainMenuDraw();
drawCursor();
activeButton = 1;
break;
}
}
}
// This function is called whenever a button press is evaluated. The LCD shield works by observing a voltage drop across the buttons all hooked up to A0.
int evaluateButton(int x) {
int result = 0;
if (x < 60) {
result = 1; // right
} else if (x < 300) {
result = 2; // up
} else if (x < 500) {
result = 3; // down
} else if (x < 700) {
result = 4; // left
}
return result;
}
// If there are common usage instructions on more than 1 of your menu items you can call this function from the sub
// menus to make things a little more simplified. If you don't have common instructions or verbage on multiple menus
// I would just delete this void. You must also delete the drawInstructions()function calls from your sub menu functions.
void drawInstructions() {
lcd.setCursor(0,1); // Set cursor to the bottom line
lcd.print("Use ");
lcd.print(byte(1)); // Up arrow
lcd.print("/");
lcd.print(byte(2)); // Down arrow
lcd.print(" buttons");
}
void menuItem1() { // Function executes when you select the 1st item from main menu
int activeButton = 0;
lcd.clear();
lcd.setCursor(3,0);
lcd.print("running");
long stepSpeed = 316.0299659;
stepper.setSpeed(stepSpeed);
while (activeButton == 0) {
stepper.runSpeed();
int button;
readKey = analogRead(0);
if (readKey < 790) {
delay(100);
readKey = analogRead(0);
}
button = evaluateButton(readKey);
switch (button) {
case 4: // This case will execute if the "back" button is pressed
button = 0;
activeButton = 1;
break;
}
}
}
void menuItem2() { // Function executes when you select the 2nd item from main menu
int activeButton = 0;
lcd.clear();
lcd.setCursor(3,0);
lcd.print("resetting");
long stepSpeed = -1000;
stepper.setSpeed(stepSpeed);
while (activeButton == 0) {
stepper.runSpeed();
int button;
readKey = analogRead(0);
if (readKey < 790) {
delay(100);
readKey = analogRead(0);
}
button = evaluateButton(readKey);
switch (button) {
case 4: // This case will execute if the "back" button is pressed
button = 0;
activeButton = 1;
break;
}
}
}
解决方法
看AccelStepper API，构造函数的第一个参数是电机类型。您已指定“ 1”，表示 DRIVER 。在这种情况下，DRIVER的枚举显示为“步进驱动器，需要2个驱动器引脚”。并且构造函数描述为“ AccelStepper :: DRIVER（1）表示步进驱动器（带有Step和Direction引脚）。如果还需要使能线，则在构造后 调用setEnablePin（） 。”
所以我的结论是您可能设置了错误的步进器。除非我链接的文档有误，否则您会错误地将使能引脚作为参数传递给构造函数。
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