199 lines
7.0 KiB
Python
199 lines
7.0 KiB
Python
#!/usr/bin/env python
|
||
# -*- coding: utf-8 -*-
|
||
"""
|
||
# @Time : 2026/1/4 19:13
|
||
# @Author : reenrr
|
||
# @File : stepper_motor_test1.py
|
||
# @Desc : 线条厂控制步进电机测试 应该不会丢步
|
||
"""
|
||
import time
|
||
from periphery import GPIO # 若未安装：pip install python-periphery
|
||
|
||
# ------------参数配置-------------
|
||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||
PUL_Pin = 32
|
||
|
||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||
DIR_Pin = 33
|
||
|
||
# 3. 驱动器参数（根据拨码调整，默认不变）
|
||
PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
|
||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||
|
||
class StepperMotor:
|
||
"""新力川MA860H驱动器步进电机控制类"""
|
||
# 方向常量定义
|
||
CLOCKWISE = "clockwise" # 顺时针
|
||
COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
|
||
|
||
def __init__(self,
|
||
pul_pin: int = PUL_Pin,
|
||
dir_pin: int = DIR_Pin,
|
||
pulses_per_round: int = PULSES_PER_ROUND,
|
||
pulse_frequency: int = PULSE_FREQUENCY,
|
||
clockwise_level: bool = True,
|
||
counter_clockwise_level: bool = False):
|
||
"""
|
||
初始化步进电机控制器
|
||
:param pul_pin: 脉冲引脚
|
||
:param dir_pin: 方向引脚
|
||
:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
|
||
:param pulse_frequency: 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||
:param clockwise_level: 顺时针对应的DIR电平
|
||
:param counter_clockwise_level: 逆时针对应的DIR电平
|
||
"""
|
||
# 硬件配置参数
|
||
self.pul_pin = pul_pin
|
||
self.dir_pin = dir_pin
|
||
|
||
# 驱动器参数
|
||
self.pulses_per_round = pulses_per_round
|
||
self.pulse_frequency = pulse_frequency
|
||
self.clockwise_level = clockwise_level
|
||
self.counter_clockwise_level = counter_clockwise_level
|
||
|
||
# GPIO对象初始化
|
||
self.pul_gpio = None
|
||
self.dir_gpio = None
|
||
|
||
# 初始化GPIO
|
||
self._init_gpio()
|
||
|
||
def _init_gpio(self):
|
||
"""初始化PUL和DIR引脚（内部方法）"""
|
||
try:
|
||
# 初始化脉冲引脚（输出模式）
|
||
self.pul_gpio = GPIO(self.pul_pin, "out")
|
||
# 初始化方向引脚（输出模式）
|
||
self.dir_gpio = GPIO(self.dir_pin, "out")
|
||
|
||
# 初始电平置低（避免电机误动作）
|
||
self.pul_gpio.write(False)
|
||
self.dir_gpio.write(False)
|
||
|
||
print(f"✅ PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||
print(f"✅ DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||
|
||
except PermissionError:
|
||
raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
|
||
except Exception as e:
|
||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||
|
||
def _validate_rounds(self, rounds: float) -> bool:
|
||
"""验证圈数是否合法（内部方法）"""
|
||
if rounds <= 0:
|
||
print("❌ 圈数必须为正数")
|
||
return False
|
||
return True
|
||
|
||
def _validate_direction(self, direction: str) -> bool:
|
||
"""验证方向参数是否合法（内部方法）"""
|
||
if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
|
||
print(f"❌ 方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
|
||
return False
|
||
return True
|
||
|
||
def rotate(self, rounds: float, direction: str = CLOCKWISE):
|
||
"""
|
||
控制电机旋转（支持正反转）
|
||
:param rounds: 旋转圈数（可小数，如0.5=半圈）
|
||
:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
|
||
"""
|
||
# 参数验证
|
||
if not self._validate_rounds(rounds) or not self._validate_direction(direction):
|
||
return
|
||
|
||
# 设置旋转方向（DIR电平）
|
||
if direction == self.CLOCKWISE: # 顺时针
|
||
self.dir_gpio.write(self.clockwise_level)
|
||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||
else: # 逆时针
|
||
self.dir_gpio.write(self.counter_clockwise_level)
|
||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||
|
||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||
total_pulses = int(rounds * self.pulses_per_round)
|
||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||
|
||
print(f"总脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||
|
||
# 发送脉冲序列（核心：占空比50%的方波）
|
||
for _ in range(total_pulses):
|
||
# 高电平
|
||
self.pul_gpio.write(True)
|
||
# 精准延时（比time.sleep稳定，适配高频脉冲）
|
||
while time.perf_counter() - start_time < half_period:
|
||
pass
|
||
# 低电平
|
||
self.pul_gpio.write(False)
|
||
# 更新下一个脉冲的起始时间
|
||
start_time += pulse_period
|
||
|
||
print("✅ 旋转完成")
|
||
|
||
def stop(self):
|
||
"""紧急停止（置低脉冲引脚）"""
|
||
if self.pul_gpio:
|
||
self.pul_gpio.write(False)
|
||
print("🛑 电机已停止")
|
||
|
||
def close(self):
|
||
"""释放GPIO资源"""
|
||
# 安全释放GPIO资源（关键：避免引脚电平残留）
|
||
if self.pul_gpio:
|
||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||
self.pul_gpio.close()
|
||
print("\n✅ PUL引脚已关闭（电平置低）")
|
||
|
||
if self.dir_gpio:
|
||
self.dir_gpio.write(False) # 方向引脚置低
|
||
self.dir_gpio.close()
|
||
print("✅ DIR引脚已关闭（电平置低）")
|
||
|
||
# 重置GPIO对象
|
||
self.pul_gpio = None
|
||
self.dir_gpio = None
|
||
|
||
def __del__(self):
|
||
"""析构函数：确保资源释放"""
|
||
self.close()
|
||
|
||
|
||
# 使用示例
|
||
def motor_demo():
|
||
"""电机控制示例"""
|
||
motor = None
|
||
try:
|
||
# 创建电机实例（使用默认配置）
|
||
motor = StepperMotor()
|
||
print("\n=== 步进电机控制程序启动 ===")
|
||
|
||
while True:
|
||
# 靠近电机方向 逆时针
|
||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||
time.sleep(5) # 暂停5秒
|
||
# 远离电机方向 顺时针
|
||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||
time.sleep(5) # 暂停5秒
|
||
|
||
|
||
except PermissionError:
|
||
print("\n❌ 权限不足：请用 sudo 运行！")
|
||
print("命令：sudo python3 double_direction_motor.py")
|
||
except ImportError:
|
||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||
print("命令：pip install python-periphery")
|
||
except Exception as e:
|
||
print(f"\n❌ 程序异常：{str(e)}")
|
||
finally:
|
||
if motor:
|
||
motor.close()
|
||
print("✅ 程序退出完成")
|
||
|
||
|
||
if __name__ == '__main__':
|
||
motor_demo()
|
||
|