{"id":3833,"date":"2017-11-29T11:45:37","date_gmt":"2017-11-29T08:45:37","guid":{"rendered":"http:\/\/roboromania.ro\/?p=3833"},"modified":"2018-01-26T10:41:45","modified_gmt":"2018-01-26T07:41:45","slug":"hai-sa-ne-jucam-cu-byj48-stepper-motor","status":"publish","type":"post","link":"https:\/\/roboromania.ro\/?p=3833","title":{"rendered":"Hai s\u0103 ne juc\u0103m cu BYJ48 Stepper motor + Driver Stepper ULN2003"},"content":{"rendered":"

BYJ48 Stepper motor + Modulul Driver Stepper ULN2003<\/span><\/h4>\n

\"default_comp26\"<\/a><\/p>\n

Modulul Driver Stepper ULN2003 cu motor Stepper 28BYJ-48 compatibil Arduino<\/a> de la Roboromania
\n<\/span><\/h4>\n

\"stepper1\"<\/a><\/p>\n

Speed Variation Ratio 1\/64
\nStride Angle 5.625\u00b0 \/64
\nFrequency 100Hz
\nDC resistance 50\u03a9\u00b17%(25\u2103)
\nIdle In-traction Frequency > 600Hz
\nIdle Out-traction Frequency > 1000Hz
\nIn-traction Torque >34.3mN.m(120Hz)
\nSelf-positioning Torque >34.3mN.m
\nFriction torque 600-1200 gf.cm
\nPull in torque 300 gf.cm
\nInsulation grade A<\/p>\n

ID-ul Arduino <\/span>+<\/span> Library pentru un motor Stepper, foarte u\u0219or de folosit, dup\u0103 conectarea motorului cu arduino Pute\u021bi \u00eenc\u0103rca Sketch pe arduino.<\/span><\/p>\n

Dar …<\/p>\n

Trebuie s\u0103 lua\u021bi \u00een considerare:<\/p>\n

Acest motor are un raport de transmisie de 64 \u0219i unghi Stride 5.625 \u00b0, astfel c\u0103 acest motor are un pas de 4096.<\/p>\n

\u00a0steps = Number of steps in One Revolution \u00a0* Gear ratio \u00a0 .<\/strong><\/p>\n

steps= (360\u00b0\/5.625\u00b0)*64″Gear ratio” = 64 * 64 =4096 . this value will substitute it on The arduino Sketch<\/p>\n

For adafruit Stepper Motor<\/a><\/strong> , the\u00a0Stride Angle 7.5\u00b0 and Gear ratio is 16 , So number of steps in 1 Revolution is :<\/p>\n

steps in One Revolution \u00a0= 360 \/ 7.5 = 48 \u00a0 .<\/p>\n

steps= 48 * 16 = 768<\/p>\n

<\/a>Asta va fi diferit depinde de ce motor utiliza\u021bi, a\u0219a c\u0103 verifica\u021bi datele pentru stepper motor pentru a calibra aceste valori.<\/span><\/p>\n

\u00a0\"stepper2\"<\/a><\/p>\n

\"stepper4\"<\/a><\/p>\n

Motor Driver ULN2003 Breakout conectat la Arduino de la IN1 – IN4 la D8 – D11 Respectiv
\nPentru a alimenta motorul, utiliza\u021bi sursa extern\u0103 de alimentare cu cel pu\u021bin 5V-500mA, nu-l alimenta\u021bi direct de la arduino 5V.<\/span><\/p>\n

C\u00e2nd \u00eenc\u0103rca\u021bi Sketch \u00een arduino, motorul va fi rotit \u00eentr-o singur\u0103 direc\u021bie Prin tastarea comenzii:<\/span><\/p>\n

step(steps);<\/strong><\/p>\n

<\/a>Deci, trebuie s\u0103 pune\u021bi num\u0103rul <\/span>de <\/span>pa\u0219i pentru a porni motorul.<\/span><\/p>\n

Pute\u021bi pune valoarea pozitiv\u0103 pentru o direc\u021bie, negativ\u0103 pentru cealalt\u0103.
\nAcest motor trebuie s\u0103 func\u021bioneze ca <\/span>\u00een<\/span> tabelul ata\u0219at.<\/span><\/p>\n

\"stepper3\"<\/a><\/p>\n

Am scris un cod care permite acestui motor s\u0103 se mi\u0219te \u00een sensul acelor de ceasornic \u0219i contra sensul<\/span>ui<\/span> acelor de ceasornic<\/span><\/p>\n

codul final pentru acest motor Stepper:<\/span><\/p>\n

\/*
\n<\/strong>BYJ48 Stepper motor code
\nConnect :
\nIN1 >> D8
\nIN2 >> D9
\nIN3 >> D10
\nIN4 >> D11
\nVCC … 5V Prefer to use external 5V Source
\nGnd
\n*\/<\/strong><\/p>\n

#define IN1\u00a0 8
\n#define IN2\u00a0 9
\n#define IN3\u00a0 10
\n#define IN4\u00a0 11
\nint Steps = 0;
\nboolean Direction = true;\/\/ gre
\nunsigned long last_time;
\nunsigned long currentMillis ;
\nint steps_left=4095;
\nlong time;
\nvoid setup()
\n{
\nSerial.begin(115200);
\npinMode(IN1, OUTPUT);
\npinMode(IN2, OUTPUT);
\npinMode(IN3, OUTPUT);
\npinMode(IN4, OUTPUT);
\n\/\/ delay(1000);<\/p>\n

}
\nvoid loop()
\n{
\nwhile(steps_left>0){
\ncurrentMillis = micros();
\nif(currentMillis-last_time>=1000){
\nstepper(1);
\ntime=time+micros()-last_time;
\nlast_time=micros();
\nsteps_left–;
\n}
\n}
\nSerial.println(time);
\nSerial.println(„Wait…!”);
\ndelay(2000);
\nDirection=!Direction;
\nsteps_left=4095;
\n}<\/p>\n

void stepper(int xw){
\nfor (int x=0;x<xw;x++){
\nswitch(Steps){
\ncase 0:
\ndigitalWrite(IN1, LOW);
\ndigitalWrite(IN2, LOW);
\ndigitalWrite(IN3, LOW);
\ndigitalWrite(IN4, HIGH);
\nbreak;
\ncase 1:
\ndigitalWrite(IN1, LOW);
\ndigitalWrite(IN2, LOW);
\ndigitalWrite(IN3, HIGH);
\ndigitalWrite(IN4, HIGH);
\nbreak;
\ncase 2:
\ndigitalWrite(IN1, LOW);
\ndigitalWrite(IN2, LOW);
\ndigitalWrite(IN3, HIGH);
\ndigitalWrite(IN4, LOW);
\nbreak;
\ncase 3:
\ndigitalWrite(IN1, LOW);
\ndigitalWrite(IN2, HIGH);
\ndigitalWrite(IN3, HIGH);
\ndigitalWrite(IN4, LOW);
\nbreak;
\ncase 4:
\ndigitalWrite(IN1, LOW);
\ndigitalWrite(IN2, HIGH);
\ndigitalWrite(IN3, LOW);
\ndigitalWrite(IN4, LOW);
\nbreak;
\ncase 5:
\ndigitalWrite(IN1, HIGH);
\ndigitalWrite(IN2, HIGH);
\ndigitalWrite(IN3, LOW);
\ndigitalWrite(IN4, LOW);
\nbreak;
\ncase 6:
\ndigitalWrite(IN1, HIGH);
\ndigitalWrite(IN2, LOW);
\ndigitalWrite(IN3, LOW);
\ndigitalWrite(IN4, LOW);
\nbreak;
\ncase 7:
\ndigitalWrite(IN1, HIGH);
\ndigitalWrite(IN2, LOW);
\ndigitalWrite(IN3, LOW);
\ndigitalWrite(IN4, HIGH);
\nbreak;
\ndefault:
\ndigitalWrite(IN1, LOW);
\ndigitalWrite(IN2, LOW);
\ndigitalWrite(IN3, LOW);
\ndigitalWrite(IN4, LOW);
\nbreak;
\n}
\nSetDirection();
\n}
\n}
\nvoid SetDirection(){
\nif(Direction==1){ Steps++;}
\nif(Direction==0){ Steps–; }
\nif(Steps>7){Steps=0;}
\nif(Steps<0){Steps=7; }
\n}<\/p><\/blockquote>\n

\"stepper5\"<\/a><\/p><\/blockquote>\n

\n

Am t\u0103iat dimensiunea codului \u00een jos \u0219i l-am modificat astfel \u00eenc\u00e2t s\u0103 pute\u021bi specifica viteza \u0219i nu ave\u021bi nevoie de direc\u021bie. Doar apela\u021bi „stepper ()” \u0219i da\u021bi num\u0103rul de pa\u0219i pe care dori\u021bi s\u0103 \u00eel roti\u021bi. <\/span><\/p>\n

Utiliza\u021bi numere negative pentru a inversa direc\u021bia. <\/span><\/p>\n

Probabil c\u0103 va trebui s\u0103 modifica\u021bi valorile pentru IN1-IN4 pentru a se potrivi cu <\/span>pinii folosi\u021bi<\/span> de pe Arduino:<\/span><\/p>\n

#define IN1 5<\/p>\n

#define IN2 4<\/p>\n

#define IN3 3<\/p>\n

#define IN4 2<\/p>\n

#define FULL_ROTATION 4076<\/p>\n

const int phases1[] = {0, 0, 0, 0, 0, 1, 1, 1};<\/p>\n

const int phases2[] = {0, 0, 0, 1, 1, 1, 0, 0};<\/p>\n

const int phases3[] = {0, 1, 1, 1, 0, 0, 0, 0};<\/p>\n

const int phases4[] = {1, 1, 0, 0, 0, 0, 0, 1};<\/p>\n

int Phase = 0;<\/p>\n

int Speed = 100; \/\/MUST BE 1 – 100<\/p>\n

void setup()<\/p>\n

{<\/p>\n

pinMode(IN1, OUTPUT);<\/p>\n

pinMode(IN2, OUTPUT);<\/p>\n

pinMode(IN3, OUTPUT);<\/p>\n

pinMode(IN4, OUTPUT);<\/p>\n

Serial.begin(115200);<\/p>\n

}<\/p>\n

void loop()<\/p>\n

{<\/p>\n

stepper(FULL_ROTATION);<\/p>\n

stepper(-FULL_ROTATION);<\/p>\n

}<\/p>\n

void stepper(int count)<\/p>\n

{<\/p>\n

int rotationDirection = count < 1 ? -1 : 1;<\/p>\n

count *= rotationDirection;<\/p>\n

for (int x = 0; x < count; x++)<\/p>\n

{<\/p>\n

digitalWrite(IN1, phases1[Phase]);<\/p>\n

digitalWrite(IN2, phases2[Phase]);<\/p>\n

digitalWrite(IN3, phases3[Phase]);<\/p>\n

digitalWrite(IN4, phases4[Phase]);<\/p>\n

IncrementPhase(rotationDirection);<\/p>\n

delay(100\/Speed);<\/p>\n

}<\/p>\n

}<\/p>\n

void IncrementPhase(int rotationDirection)<\/p>\n

{<\/p>\n

Phase += 8;<\/p>\n

Phase += rotationDirection;<\/p>\n

Phase %= 8;<\/p>\n

}<\/p>\n

Am schimbat codul pu\u021bin pentru a sc\u0103pa de direc\u021bie \u0219i pentru a folosi semnul minus pentru rotirea CCW \u0219i plus pentru CW rotativ. <\/span><\/p>\n

De asemenea, <\/span>vreau<\/span> s\u0103 dezactivez motorul dup\u0103 fiecare rotire.<\/span><\/p>\n

S<\/span>crie\u021bi doar c\u00e2\u021bi pa\u0219i ai nevoie \u0219i <\/span>executa<\/span>.<\/span><\/p>\n

#define IN1 8<\/p>\n

#define IN2 9<\/p>\n

#define IN3 10<\/p>\n

#define IN4 11<\/p>\n

int Steps = 0;<\/p>\n

void setup()<\/p>\n

{<\/p>\n

Serial.begin(115200);<\/p>\n

pinMode(IN1, OUTPUT);<\/p>\n

pinMode(IN2, OUTPUT);<\/p>\n

pinMode(IN3, OUTPUT);<\/p>\n

pinMode(IN4, OUTPUT);<\/p>\n

\/\/ delay(1000);<\/p>\n

}<\/p>\n

void loop() {<\/p>\n

while (Serial.available()>0){<\/p>\n

int st = Serial.parseInt();<\/p>\n

if(Serial.read()==’\\n’){<\/p>\n

String message = „STEPS „;<\/p>\n

message+=st;<\/p>\n

Serial.println(message);<\/p>\n

stepper(st);<\/p>\n

delay(500);<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

}<\/p>\n

}<\/p>\n

}<\/p>\n

void stepper(int doSteps){<\/p>\n

int xw =abs(doSteps);<\/p>\n

for (int x=0;x<xw;x++){<\/p>\n

switch(Steps){<\/p>\n

case 0:<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, HIGH);<\/p>\n

break;<\/p>\n

case 1:<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, HIGH);<\/p>\n

digitalWrite(IN4, HIGH);<\/p>\n

break;<\/p>\n

case 2:<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, HIGH);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

break;<\/p>\n

case 3:<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, HIGH);<\/p>\n

digitalWrite(IN3, HIGH);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

break;<\/p>\n

case 4:<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, HIGH);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

break;<\/p>\n

case 5:<\/p>\n

digitalWrite(IN1, HIGH);<\/p>\n

digitalWrite(IN2, HIGH);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

break;<\/p>\n

case 6:<\/p>\n

digitalWrite(IN1, HIGH);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

break;<\/p>\n

case 7:<\/p>\n

digitalWrite(IN1, HIGH);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, HIGH);<\/p>\n

break;<\/p>\n

default:<\/p>\n

digitalWrite(IN1, LOW);<\/p>\n

digitalWrite(IN2, LOW);<\/p>\n

digitalWrite(IN3, LOW);<\/p>\n

digitalWrite(IN4, LOW);<\/p>\n

break;<\/p>\n

}<\/p>\n

delay(1);<\/p>\n

if(doSteps>=0){ Steps++;}<\/p>\n

if(doSteps<0){ Steps–; }<\/p>\n

if(Steps>7){Steps=0;}<\/p>\n

if(Steps<0){Steps=7; }<\/p>\n

}<\/p>\n

}<\/p>\n<\/blockquote>\n

Codul ar putea
\ns\u0103 fie simplificat.<\/span><\/p>\n

Folosind matrice, redenumirea variabilelor \u0219i simplificarea controlului<\/p>\n

\/*
\nBYJ48 Stepper motor code
\nConecta\u021bi :
\nIN1 >> D8
\nIN2 >> D9
\nIN3 >> D10
\nIN4 >> D11
\nVCC … 5V folosi\u021bi external 5V Source
\nGnd
\n*\/<\/p>\n

#define IN1 8
\n#define IN2 9
\n#define IN3 10
\n#define IN4 11
\nconst int NBSTEPS = 4096;
\nconst int STEPTIME = 900;
\nint Step = 0;
\nboolean Clockwise = true;<\/p>\n

int arrayDefault[4] = {LOW, LOW, LOW, LOW};<\/p>\n

int stepsMatrix[8][4] = {
\n{LOW, LOW, LOW, HIGH},
\n{LOW, LOW, HIGH, HIGH},
\n{LOW, LOW, HIGH, LOW},
\n{LOW, HIGH, HIGH, LOW},
\n{LOW, HIGH, LOW, LOW},
\n{HIGH, HIGH, LOW, LOW},
\n{HIGH, LOW, LOW, LOW},
\n{HIGH, LOW, LOW, HIGH},
\n};<\/p>\n

unsigned long lastTime;
\nunsigned long time;<\/p>\n

void setup(){
\nSerial.begin(9600);
\nSerial.println(„Starting…”);
\npinMode(IN1, OUTPUT);
\npinMode(IN2, OUTPUT);
\npinMode(IN3, OUTPUT);
\npinMode(IN4, OUTPUT);
\n}<\/p>\n

void loop(){
\nunsigned long currentMicros;
\nint stepsLeft = NBSTEPS;
\ntime = 0;
\nwhile(stepsLeft > 0){
\ncurrentMicros = micros();
\nif(currentMicros – lastTime >= STEPTIME){
\nstepper();
\ntime += micros() – lastTime;
\nlastTime = micros();
\nstepsLeft–;
\n}
\n}
\nSerial.println(time);
\nSerial.println(„Wait…!”);
\ndelay(2000);
\nClockwise = !Clockwise;
\nstepsLeft = NBSTEPS;
\n}<\/p>\n

void writeStep(int outArray[4]){
\nfor (int i=0;i < 4; i++){
\ndigitalWrite(IN1 + i, outArray[i]);
\n}
\n}<\/p>\n

void stepper(){
\nif ((Step >= 0) && (Step < 8)){
\nwriteStep(stepsMatrix[Step]);
\n}else{
\nwriteStep(arrayDefault);
\n}
\nsetDirection();
\n}<\/p>\n

void setDirection(){
\n(Clockwise) ? (Step++) : (Step–);<\/p>\n

if(Step>7){
\nStep=0;
\n}else if(Step<0){
\nStep=7;
\n}
\n}<\/p>\n

 <\/p>\n

Succes !<\/p>\n

Colectivul Roboromania<\/p>\n","protected":false},"excerpt":{"rendered":"

BYJ48 Stepper motor + Modulul Driver Stepper ULN2003 Modulul Driver Stepper ULN2003 cu motor Stepper 28BYJ-48 compatibil Arduino de la Roboromania Speed Variation Ratio 1\/64 Stride Angle 5.625\u00b0 \/64 Frequency 100Hz DC resistance 50\u03a9\u00b17%(25\u2103) Idle In-traction Frequency > 600Hz Idle Out-traction Frequency > 1000Hz In-traction Torque >34.3mN.m(120Hz) Self-positioning Torque >34.3mN.m Friction torque 600-1200 gf.cm Pull […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[176],"tags":[],"class_list":["post-3833","post","type-post","status-publish","format-standard","hentry","category-tutoriale-arduino"],"_links":{"self":[{"href":"https:\/\/roboromania.ro\/index.php?rest_route=\/wp\/v2\/posts\/3833","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/roboromania.ro\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/roboromania.ro\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/roboromania.ro\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/roboromania.ro\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3833"}],"version-history":[{"count":9,"href":"https:\/\/roboromania.ro\/index.php?rest_route=\/wp\/v2\/posts\/3833\/revisions"}],"predecessor-version":[{"id":4203,"href":"https:\/\/roboromania.ro\/index.php?rest_route=\/wp\/v2\/posts\/3833\/revisions\/4203"}],"wp:attachment":[{"href":"https:\/\/roboromania.ro\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3833"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/roboromania.ro\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3833"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/roboromania.ro\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3833"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}