212 lines
7.4 KiB
Python
212 lines
7.4 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/5 15:50
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# @Author : reenrr
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# @File : stepper_motor.py
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# @Desc : 控制步进电机从初始位置移动10cm,移动后回到初始位置
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'''
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import time
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from periphery import GPIO
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import logging
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import os
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# ------------参数配置-------------
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# 1. 脉冲（PUL）引脚配置 → GPIO32
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PUL_Pin = 32
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# 2. 方向（DIR）引脚配置 → GPIO33
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DIR_Pin = 33
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# 3. 驱动器参数（根据拨码调整，默认不变）
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PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
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PULSE_FREQUENCY = 2500 # 脉冲频率（Hz）
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# ------------ 日志+参数配置 ------------
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script_dir = os.path.dirname(os.path.abspath(__file__))
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log_file_path = os.path.join(script_dir, "stepper_motor.log")
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logging.basicConfig(
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level=logging.INFO,
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format='[%(asctime)s.%(msecs)03d] [%(levelname)s] %(message)s',
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datefmt='%Y-%m-%d %H:%M:%S',
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handlers=[
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logging.StreamHandler(),
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logging.FileHandler(log_file_path, encoding='utf-8')
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]
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)
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class StepperMotor:
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"""新力川MA860H驱动器步进电机控制类"""
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# 方向常量定义
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CLOCKWISE = "clockwise" # 顺时针
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COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
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def __init__(self,
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pul_pin: int = PUL_Pin,
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dir_pin: int = DIR_Pin,
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pulses_per_round: int = PULSES_PER_ROUND,
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pulse_frequency: int = PULSE_FREQUENCY,
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clockwise_level: bool = True,
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counter_clockwise_level: bool = False):
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"""
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初始化步进电机控制器
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:param pul_pin: 脉冲引脚
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:param dir_pin: 方向引脚
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:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
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:param pulse_frequency: 脉冲频率（Hz，）
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:param clockwise_level: 顺时针对应的DIR电平
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:param counter_clockwise_level: 逆时针对应的DIR电平
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"""
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# 硬件配置参数
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self.pul_pin = pul_pin
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self.dir_pin = dir_pin
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# 驱动器参数
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self.pulses_per_round = pulses_per_round
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self.pulse_frequency = pulse_frequency
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self.clockwise_level = clockwise_level
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self.counter_clockwise_level = counter_clockwise_level
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# GPIO对象初始化
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self.pul_gpio = None
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self.dir_gpio = None
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# 初始化GPIO
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self._init_gpio()
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def _init_gpio(self):
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"""初始化PUL和DIR引脚"""
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try:
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# 初始化脉冲引脚（输出模式）
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self.pul_gpio = GPIO(self.pul_pin, "out")
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# 初始化方向引脚（输出模式）
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self.dir_gpio = GPIO(self.dir_pin, "out")
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# 初始电平置低（避免电机误动作）
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self.pul_gpio.write(False)
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self.dir_gpio.write(False)
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logging.info(f"PUL引脚初始化完成：{self.pul_pin} 引脚")
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logging.info(f"DIR引脚初始化完成：{self.dir_pin} 引脚")
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except PermissionError:
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raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
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except Exception as e:
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raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
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def _validate_rounds(self, rounds: float) -> bool:
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"""验证圈数是否合法（内部方法）"""
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if rounds <= 0:
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logging.info("圈数必须为正数")
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return False
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return True
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def _validate_direction(self, direction: str) -> bool:
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"""验证方向参数是否合法（内部方法）"""
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if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
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logging.info(f"方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
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return False
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return True
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def rotate(self, rounds: float, direction: str = CLOCKWISE):
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"""
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控制电机旋转（支持正反转）
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:param rounds: 旋转圈数（可小数，如0.5=半圈）
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:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
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"""
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# 参数验证
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if not self._validate_rounds(rounds) or not self._validate_direction(direction):
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return
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# 设置旋转方向（DIR电平）
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if direction == self.CLOCKWISE: # 顺时针
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self.dir_gpio.write(self.clockwise_level)
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logging.info(f"\n=== 顺时针旋转 {rounds} 圈 ===")
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else: # 逆时针
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self.dir_gpio.write(self.counter_clockwise_level)
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logging.info(f"\n=== 逆时针旋转 {rounds} 圈 ===")
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# 计算总脉冲数和时序（精准控制，避免丢步）
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total_pulses = int(rounds * self.pulses_per_round)
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pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
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half_period = pulse_period / 2 # 占空比50%（MA860H最优）
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logging.info(f"总脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
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start_time = time.perf_counter() # 高精度计时（避免丢步）
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# 发送脉冲序列（核心：占空比50%的方波）
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for _ in range(total_pulses):
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# 高电平
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self.pul_gpio.write(True)
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# 精准延时（比time.sleep稳定，适配高频脉冲）
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while time.perf_counter() - start_time < half_period:
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pass
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# 低电平
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self.pul_gpio.write(False)
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# 更新下一个脉冲的起始时间
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start_time += pulse_period
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logging.info("旋转完成")
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def stop(self):
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"""紧急停止（置低脉冲引脚）"""
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if self.pul_gpio:
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self.pul_gpio.write(False)
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logging.info("电机已停止")
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def close(self):
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"""释放GPIO资源"""
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# 安全释放GPIO资源（关键：避免引脚电平残留）
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if self.pul_gpio:
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self.pul_gpio.write(False) # 脉冲引脚置低
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self.pul_gpio.close()
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logging.info("\n PUL引脚已关闭（电平置低）")
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if self.dir_gpio:
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self.dir_gpio.write(False) # 方向引脚置低
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self.dir_gpio.close()
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logging.info("DIR引脚已关闭（电平置低）")
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# 重置GPIO对象
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self.pul_gpio = None
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self.dir_gpio = None
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def __del__(self):
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"""析构函数：确保资源释放"""
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self.close()
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#---------控制步进电机外部接口--------------
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def stepper_motor_control():
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motor = None
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try:
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# 创建电机实例（使用默认配置）
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motor = StepperMotor()
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logging.info("\n=== 步进电机控制程序启动 ===")
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# 靠近电机方向 逆时针
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motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
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time.sleep(5) # 暂停5秒
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# 远离电机方向 顺时针
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motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
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time.sleep(5) # 暂停5秒
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except PermissionError:
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logging.info("\n 权限不足：请用 sudo 运行！")
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logging.info("命令：sudo python3 double_direction_motor.py")
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except ImportError:
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logging.info("\n 缺少依赖：请安装python-periphery")
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logging.info("命令：pip install python-periphery")
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except Exception as e:
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logging.info(f"\n 程序异常：{str(e)}")
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finally:
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if motor:
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motor.close()
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logging.info("程序退出完成")
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if __name__ == '__main__':
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stepper_motor_control()
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