利用树莓派控制步进电机——Python语言

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       步进电机的优点在于它能够被精确定位，正向或反向一次性转动“一步”，并且也能够连续转动。本次实验，我们选用的舵机驱动芯片是ULN2003A，ULN2003 是高耐压、大电流复合晶体管阵列，由七个硅NPN 复合晶体管组成。为了方便起见，我们用了ULN2003A模块，电路连接方式如下图：

#!/usr/bin/env python
#########################################################
#	File name: stepMotor.py
#	   Author: Jason Dai
#	     Date: 2015/01/26
#########################################################
import RPi.GPIO as GPIO
import timeIN1 = 11    # pin11
IN2 = 12
IN3 = 13
IN4 = 15def setStep(w1, w2, w3, w4):GPIO.output(IN1, w1)GPIO.output(IN2, w2)GPIO.output(IN3, w3)GPIO.output(IN4, w4)def stop():setStep(0, 0, 0, 0)def forward(delay, steps):  for i in range(0, steps):setStep(1, 0, 0, 0)time.sleep(delay)setStep(0, 1, 0, 0)time.sleep(delay)setStep(0, 0, 1, 0)time.sleep(delay)setStep(0, 0, 0, 1)time.sleep(delay)def backward(delay, steps):  for i in range(0, steps):setStep(0, 0, 0, 1)time.sleep(delay)setStep(0, 0, 1, 0)time.sleep(delay)setStep(0, 1, 0, 0)time.sleep(delay)setStep(1, 0, 0, 0)time.sleep(delay)def setup():GPIO.setwarnings(False)GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical locationGPIO.setup(IN1, GPIO.OUT)      # Set pin's mode is outputGPIO.setup(IN2, GPIO.OUT)GPIO.setup(IN3, GPIO.OUT)GPIO.setup(IN4, GPIO.OUT)def loop():while True:print "backward..."backward(0.003, 512)  # 512 steps --- 360 angleprint "stop..."stop()                 # stoptime.sleep(3)          # sleep 3sprint "forward..."forward(0.005, 512)print "stop..."stop()time.sleep(3)def destroy():GPIO.cleanup()             # Release resourceif __name__ == '__main__':     # Program start from heresetup()try:loop()except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child function destroy() will be  executed.destroy()

运行程序：

python stepMotor.py

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