自動滑軌項目_參考案例3

此案例中包含了，步進電機歸位的用法。

步進電機歸位：

  long initial_homing=-1; 

。。。。。。。。。。

  while (digitalRead(home_switch)) {  // 使步進電機逆時針運動，直到觸發限位開關
    stepperX.moveTo(initial_homing);  // 逆時針移動一步
    initial_homing--;  // 位置減一保證每次都沒到位
    stepperX.run();  // 電機旋轉
    delay(5);
}

  stepperX.setCurrentPosition(0);  // 設置當前位置爲0
  stepperX.setMaxSpeed(100.0);      // 設置最大速度
  stepperX.setAcceleration(100.0);  // 設置加速度
  initial_homing=1;  //將位置設置爲1，設定順時針運動參考值

  while (!digitalRead(home_switch)) { // 使電機順時針運動直到限位開關鬆開
    stepperX.moveTo(initial_homing);  
    stepperX.run();
    initial_homing++;
    delay(5);
  }

步進電機移動：

  if ((stepperX.distanceToGo() != 0)) {//如果未完成設置的距離，爲什麼兩層括號括起來？
    
    stepperX.run();  // 步進電機繼續移動
    
  }

// If move is completed display message on Serial Monitor
  if ((move_finished == 0) && (stepperX.distanceToGo() == 0)) {
    Serial.println("COMPLETED!");
    Serial.println("");
     Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
    move_finished=1;  // Reset move variable此變量防止刷屏

 

我就是不理解，我的代碼

stepperX.move(300);

while（stepperX.distanceToGo() ！= 0）{

stepperX.run();

}

爲什麼電機會不運動。

 

/*  Motor Homing code using AccelStepper and the Serial Monitor
 
Created by Yvan / https://Brainy-Bits.com
This code is in the public domain...
You can: copy it, use it, modify it, share it or just plain ignore it!
Thx!

*/

#include "AccelStepper.h" 
// Library created by Mike McCauley at http://www.airspayce.com/mikem/arduino/AccelStepper/

// AccelStepper Setup
AccelStepper stepperX(1, 2, 3);   // 1 = Easy Driver interface
                                  // NANO Pin 2 connected to STEP pin of Easy Driver
                                  // NANO Pin 3 connected to DIR pin of Easy Driver

// Define the Pins used
#define home_switch 9 // Pin 9 connected to Home Switch (MicroSwitch)

// Stepper Travel Variables
long TravelX;  // Used to store the X value entered in the Serial Monitor
int move_finished=1;  // Used to check if move is completed
long initial_homing=-1;  // Used to Home Stepper at startup


void setup() {
   Serial.begin(9600);  // Start the Serial monitor with speed of 9600 Bauds
   
   pinMode(home_switch, INPUT_PULLUP);
   
   delay(5);  // Wait for EasyDriver wake up

   //  Set Max Speed and Acceleration of each Steppers at startup for homing
  stepperX.setMaxSpeed(100.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  stepperX.setAcceleration(100.0);  // Set Acceleration of Stepper
 

// Start Homing procedure of Stepper Motor at startup

  Serial.print("Stepper is Homing . . . . . . . . . . . ");

  while (digitalRead(home_switch)) {  // Make the Stepper move CCW until the switch is activated   
    stepperX.moveTo(initial_homing);  // Set the position to move to
    initial_homing--;  // Decrease by 1 for next move if needed
    stepperX.run();  // Start moving the stepper
    delay(5);
}

  stepperX.setCurrentPosition(0);  // Set the current position as zero for now
  stepperX.setMaxSpeed(100.0);      // Set Max Speed of Stepper (Slower to get better accuracy)
  stepperX.setAcceleration(100.0);  // Set Acceleration of Stepper
  initial_homing=1;

  while (!digitalRead(home_switch)) { // Make the Stepper move CW until the switch is deactivated
    stepperX.moveTo(initial_homing);  
    stepperX.run();
    initial_homing++;
    delay(5);
  }
  
  stepperX.setCurrentPosition(0);
  Serial.println("Homing Completed");
  Serial.println("");
  stepperX.setMaxSpeed(1000.0);      // Set Max Speed of Stepper (Faster for regular movements)
  stepperX.setAcceleration(1000.0);  // Set Acceleration of Stepper

// Print out Instructions on the Serial Monitor at Start
  Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
}

void loop() {

 while (Serial.available()>0)  { // Check if values are available in the Serial Buffer

  move_finished=0;  // Set variable for checking move of the Stepper
  
  TravelX= Serial.parseInt();  // Put numeric value from buffer in TravelX variable
  if (TravelX < 0 || TravelX > 1350) {  // Make sure the position entered is not beyond the HOME or MAX position
    Serial.println("");
    Serial.println("Please enter a value greater than zero and smaller or equal to 1350.....");
    Serial.println("");
  } else {
    Serial.print("Moving stepper into position: ");
    Serial.println(TravelX);
  
  stepperX.moveTo(TravelX);  // Set new moveto position of Stepper
  
  delay(1000);  // Wait 1 seconds before moving the Stepper
  }
  }

  if (TravelX >= 0 && TravelX <= 1350) {

// Check if the Stepper has reached desired position
  if ((stepperX.distanceToGo() != 0)) {
    
    stepperX.run();  // Move Stepper into position
    
  }

// If move is completed display message on Serial Monitor
  if ((move_finished == 0) && (stepperX.distanceToGo() == 0)) {
    Serial.println("COMPLETED!");
    Serial.println("");
     Serial.println("Enter Travel distance (Positive for CW / Negative for CCW and Zero for back to Home): ");
    move_finished=1;  // Reset move variable
  }
  }
}