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Adafruit Motor Shield V2-Moteur Stepper (voir la source)
Version du 5 janvier 2014 à 17:44
, 5 janvier 2014 à 17:44→xx
Running a stepper is a little more intricate than running a DC motor but its still very easy
Running a stepper is a little more intricate than running a DC motor but its still very easy
== xx ==
== Programmation ==
=== Inclure la bibliothèque ==
Assurez-vous d'avoir inclus les bibliothèques nécessaire à l'aide de l'instruction #include
<nowiki>#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"</nowiki>
=== Créer un objet Adafruit_MotorShield ===
<nowiki>Adafruit_MotorShield AFMS = Adafruit_MotorShield();</nowiki>
=== Créer un objet "moteur pas-à-pas" ===
Demander la création d'un objet Stepper (littéralement pas-à-pas) à Adafruit_MotorShield:
<nowiki>Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 2);</nowiki>
with '''getStepper(steps, stepper#)'''. '''Steps''' indicates how many steps per revolution the motor has. A 7.5degree/step motor has 360/7.5 = 48 steps. '''Stepper#''' is which port it is connected to. If you're using M1 and M2, its port '''1'''. If you're using M3 and M4 indicate port '''2'''
=== Initialiser la vitesse par défaut ===
Set the speed of the motor using '''setSpeed(rpm)''' where rpm is how many revolutions per minute you want the stepper to turn.
=== Faire fonctionner le moteur ===
Then every time you want the motor to move, call the '''step(#steps, direction, steptype)''' procedure. #steps is how many steps you'd like it to take. direction is either '''FORWARD''' or '''BACKWARD''' and the step type is '''SINGLE''', '''DOUBLE''', '''INTERLEAVE''' or '''MICROSTEP'''.
* "Single" means single-coil activation
* "Double" means 2 coils are activated at once (for higher torque)
* "Interleave" means that it alternates between single and double to get twice the resolution (but of course its half the speed).
* "Microstepping" is a method where the coils are PWM'd to create smooth motion between steps.
Theres tons of information about the pros and cons of these different stepping methods in the resources page.
You can use whichever stepping method you want, changing it "on the fly" to as you may want minimum power, more torque, or more precision.
By default, the motor will 'hold' the position after its done stepping. If you want to release all the coils, so that it can spin freely, call '''release()'''
The stepping commands are 'blocking' and will return once the steps have finished.
Because the stepping commands 'block' - you have to instruct the Stepper motors each time you want them to move. If you want to have more of a 'background task' stepper control, check out [https://github.com/adafruit/AccelStepper bibliothèque AccelStepper] sur le GitHub d'AdaFruit (install similarly to how you did with Adafruit_MotorShield) which has some examples for controlling three steppers simultaneously with varying acceleration
{{Adafruit Motor Shield V2-TRAILER}}
{{Adafruit Motor Shield V2-TRAILER}}