arduino控制步进电机S形加速和梯形加速

目录

​​S形：​​

​​梯形： ​​

S形：

/*                        
 *                        ********   
 *                        *
 *                        ********
 *                               *
 * S型加速                 ********
 * 
 */

#define accel1_time 1000           //第一段加速时间
#define accel2_time 1000           //第二段加速时间
#define accel3_time 1000           //第三段加速时间
#define accel4_time 3000           //第四段匀速时间
#define accel5_time 1000           //第五段减速时间
#define accel6_time 1000           //第六段减速时间
#define accel7_time 1000           //第七段减速时间

class Motor{
  public:
    unsigned long velocity;       //电机转速，主要反应脉冲发射速度(频率)
    int dir=2;            //电机旋转方向控制IO口
    int stp=3;            //电机脉冲信号发射IO口
    int enable=4;        //电机使能，看接线方法，这里是高电平使能
    long accel=1;          //加速度系数
    unsigned long edge;
    Motor();
    void stp_motor()    //发送脉冲
    {
      digitalWrite(stp,HIGH);
      delayMicroseconds(int(1.00/2*float(velocity))*1000000);
      digitalWrite(stp,LOW);
      delayMicroseconds(int(1.00/2*float(velocity))*1000000);
    }
};

Motor::Motor()
{
  for(int i=2;i<=4;i++)
    pinMode(i,OUTPUT);
  digitalWrite(enable,HIGH);
  digitalWrite(dir,HIGH);
}

Motor mymotor;         //定义自己的电机

unsigned long last_time;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);         //设置通信波特率，查看结果
}

void loop() {
  // put your main code here, to run repeatedly:
  
  last_time=millis();
  mymotor.velocity=1;
  //加加速代码,加速1秒
  while((millis()-last_time)<=accel1_time)
  {
     mymotor.velocity=mymotor.accel*(millis()-last_time)*(millis()-last_time);
     if(mymotor.velocity==0)
        mymotor.velocity=1;
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;
  
  //匀加速代码,加速1秒
  last_time=millis();
  while((millis()-last_time)<=accel2_time)
  {
     mymotor.velocity=mymotor.edge+100*(millis()-last_time);
     
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;

  //减加速代码,加速1秒
  last_time=millis();
  while((millis()-last_time)<=accel3_time)
  {
     mymotor.velocity=mymotor.edge+(1000000-mymotor.accel*(1000-millis()+last_time)*(1000-millis()+last_time));
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;

  //减速代码,1秒
  last_time=millis();
  while((millis()-last_time)<=accel4_time)
  {
     mymotor.velocity=mymotor.edge;
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;

  //加减速代码,1秒
  last_time=millis();
  while((millis()-last_time)<=accel5_time)
  {
     mymotor.velocity=mymotor.edge-mymotor.accel*(millis()-last_time)*(millis()-last_time);
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;

  //匀减速代码,减速1秒
  last_time=millis();
  while((millis()-last_time)<=accel6_time)
  {
     mymotor.velocity=mymotor.edge-100*(millis()-last_time);
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;

  //匀减速代码,减速1秒
  last_time=millis();
  while((millis()-last_time)<=accel7_time)
  {
     mymotor.velocity=mymotor.accel*(accel7_time-(millis()-last_time))*(accel7_time-(millis()-last_time));
     if(mymotor.velocity<=1)
        mymotor.velocity=1;
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  mymotor.edge=mymotor.velocity;

}

梯形： 

/*
 * 
 *                ******
 *               *      *
 *              **********
 * T型加速
 * 
 */

#define accel_time 1000

class Motor{
  public:
    unsigned long velocity;       //电机转速，主要反应脉冲发射速度(频率)
    int dir=2;            //电机旋转方向控制IO口
    int stp=3;            //电机脉冲信号发射IO口
    int enable=4;        //电机使能，看接线方法，这里是高电平使能
    long accel=10;          //加速度系数
    Motor();
    void stp_motor()    //发送脉冲
    {
      
      digitalWrite(stp,HIGH);
      delayMicroseconds(int(1.00/2*float(velocity))*1000000);
      digitalWrite(stp,LOW);
      delayMicroseconds(int(1.00/2*float(velocity))*1000000);
    }
};

Motor::Motor()
{
  for(int i=2;i<=4;i++)
    pinMode(i,OUTPUT);
  digitalWrite(enable,HIGH);
  digitalWrite(dir,HIGH);
}

Motor mymotor;         //定义自己的电机

unsigned long last_time;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);         //设置通信波特率，查看结果
}

void loop() {
  // put your main code here, to run repeatedly:
  
  last_time=millis();
  
  //匀加速代码,加速10秒
  while((millis()-last_time)<=accel_time)
  {
     mymotor.velocity=mymotor.accel*(millis()-last_time);
     if(mymotor.velocity==0)
        mymotor.velocity=1;
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }


  //匀速代码
  last_time=millis();
  while((millis()-last_time)<=10000)
  {
     
     mymotor.velocity=accel_time*mymotor.accel;
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }


  //匀减速代码
  last_time=millis();
  while((millis()-last_time)<=accel_time)
  {
     mymotor.velocity=accel_time*mymotor.accel-mymotor.accel*(millis()-last_time);
     if(mymotor.velocity==0)
        mymotor.velocity=1;
     mymotor.stp_motor();
     Serial.println(mymotor.velocity);
  }
  
}