中断控制电机反向转动

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/*

Stepper Motor Control - one revolution

This program drives a unipolar or bipolar stepper motor.

The motor is attached to digital pins 8 - 11 of the Arduino.

The motor should revolve one revolution in one direction, then

one revolution in the other direction.

Created 11 Mar. 2007

Modified 30 Nov. 2009

by Tom Igoe

*/

#include <Stepper.h>

int stepsPerRevolution = 200;

int pbIn = 5;

Stepper myStepper(stepsPerRevolution, 9,7,8,6);

void setup(){

attachInterrupt(pbIn,stateChange,RISING);

// set the speed at 60 rpm:

myStepper.setSpeed(60);

// initialize the serial port:

Serial.begin(9600);

}

void loop(){

// step one revolution in one direction:

Serial.println("clockwise");

myStepper.step(stepsPerRevolution);

delay(500);

}

void stateChange()

{

stepsPerRevolution = -stepsPerRevolution;

}

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不知道为什么，当行程开关按下的时间不一样时，会出现这样一种怪现象：电机先反向转了一圈，然后又恢复了原来的方向，有点诡异。而且电机对开关的响应还是迟钝，大概这个也是Arduino的缺点，不过肯定有优化的方法，也可能是我对电机的库函数的理解不对！