一応動いたけどパルス周波数を上げるとt_micro=1000以下で脱調する。
TA7291Pの応答速度も関係あるのだろうか。
delayが1000マイクロsecまでしかいかない。ハーフステップで500μsecまで行ったから期待してたのだけど。
//This is to drive the bipolar stepper motor using TA7291P int pA = 6; int _pA = 7; int pB = 8; int _pB = 9; int PWM_A = 10;//FOR PWM OUTPUT int PWM_B = 11;//FOR PWM OUTPUT int status = 1; int t_micro = 700; int t_delay = 0; int quarter = 255/4; void setup(){ pinMode(pA,OUTPUT);//COIL A pinMode(_pA,OUTPUT);//COIL A bar pinMode(pB,OUTPUT);//COIL B pinMode(_pB,OUTPUT);//COIL B bar pinMode(PWM_A,OUTPUT); pinMode(PWM_B,OUTPUT); } void loop(){ rotate(); /* for(int i=0;i<10000;i++){ rotate(); } for(int i=0;i<10000;i++){ r_rotate(); } */ } void rotate(){ switch(status){ //MICRO STEP EXCITATION case 1: //STEP1 digitalWrite(pA,LOW); digitalWrite(_pA,LOW); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_B,quarter*4); delayMicroseconds(t_micro); delay(t_delay); status = 2; break; case 2: //STEP2 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_A,quarter); analogWrite(PWM_B,quarter*3); status = 3; delayMicroseconds(t_micro); delay(t_delay); break; case 3: //STEP3 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_A,quarter*2); analogWrite(PWM_B,quarter*2); status = 4; delayMicroseconds(t_micro); delay(t_delay); break; case 4: //STEP4 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_A,quarter*3); analogWrite(PWM_B,quarter); delayMicroseconds(t_micro); delay(t_delay); status = 5; break; case 5: //STEP5 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,LOW); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter*4); delayMicroseconds(t_micro); delay(t_delay); status = 6; break; case 6: //STEP6 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter*3); analogWrite(PWM_B,quarter); delayMicroseconds(t_micro); delay(t_delay); status = 7; break; case 7: //STEP7 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter*2); analogWrite(PWM_B,quarter*2); delayMicroseconds(t_micro); delay(t_delay); status = 8; break; case 8: //STEP8 digitalWrite(pA,HIGH); digitalWrite(_pA,LOW); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter); analogWrite(PWM_B,quarter*3); delayMicroseconds(t_micro); delay(t_delay); status = 9; break; case 9: //STEP9 digitalWrite(pA,LOW); digitalWrite(_pA,LOW); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_B,quarter*4); delayMicroseconds(t_micro); delay(t_delay); status = 10; break; case 10: //STEP10 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter); analogWrite(PWM_B,quarter*3); delay(t_delay); status = 11; delayMicroseconds(t_micro); break; case 11: //STEP11 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter*2); analogWrite(PWM_B,quarter*2); delayMicroseconds(t_micro); delay(t_delay); status = 12; break; case 12: //STEP12 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,HIGH); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter*3); analogWrite(PWM_B,quarter); delayMicroseconds(t_micro); delay(t_delay); status = 13; break; case 13: //STEP13 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,LOW); digitalWrite(_pB,LOW); analogWrite(PWM_A,quarter*4); delayMicroseconds(t_micro); delay(t_delay); status = 14; break; case 14: //STEP14 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_A,quarter*3); analogWrite(PWM_B,quarter); delayMicroseconds(t_micro); delay(t_delay); status = 15; break; case 15: //STEP15 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_A,quarter*2); analogWrite(PWM_B,quarter*2); delayMicroseconds(t_micro); delay(t_delay); status = 1; break; case 16: //STEP16 digitalWrite(pA,LOW); digitalWrite(_pA,HIGH); digitalWrite(pB,LOW); digitalWrite(_pB,HIGH); analogWrite(PWM_A,quarter); analogWrite(PWM_B,quarter*3); delayMicroseconds(t_micro); delay(t_delay); status = 1; break; } } void r_rotate(){ }
