超音波和步進馬達問題

fsn103659

各位好 這幾天參考了
步進馬達用ULN2003APG驅動電路來轉動馬達


[size=12.7272720336914px]http://atceiling.blogspot.tw/2013/04/arduino.html#.VL_PUkeL86W
[size=12.7272720336914px]參考這版大的接法




[size=12.7272720336914px]我們現在多加一個超音波跟馬達來驅動



[size=12.7272720336914px]
這是自己接在麵包板上



超音波顯示出來 0cm 可能讀到值沒有寫入有人建議我寫個副程式 小弟我不太會弄

[size=12.7272720336914px]以下朋友修改程式碼
[size=12.7272720336914px]我們成果是說讓超音波感應到而馬達開始轉動
[size=12.7272720336914px]沒有感應到  馬達不會轉動

#include<Stepper.h>  

#defineSTEPS 180  //步進馬達每圈的步進數　  

  

//steps:代表馬達轉完一圈需要多少步數。如果馬達上有標示每步的度數，  

//將360除以這個角度，就可以得到所需要的步數(例如：360/3.6=100)。(int)  

  

Stepperstepper(STEPS, 12, 11, 10, 9);  

const intTrigPinIn = 7; //超音波

const intEchoPinIn = 6; //超音波

voidsetup() {

//initialize serial communication:

//digitalWrite(bz_Pin,LOW);

stepper.setSpeed(140);//將馬達的速度設定成140RPM 最大  150~160

Serial.begin(9600);

}

voidloop()

{

//digitalWrite(bz_Pin,LOW);

//establish variables for duration of the ping,

// and thedistance result in inches and centimeters:

longdurationIn, inchesIn, cmIn;

longdurationOut, inchesOut, cmOut;

// ThePING))) is triggered by a HIGH pulse of 2 or more microseconds.

// Give ashort LOW pulse beforehand to ensure a clean HIGH pulse:

pinMode(TrigPinIn,OUTPUT);

pinMode(EchoPinIn,INPUT);

//歡迎光臨

digitalWrite(TrigPinIn,LOW);

delayMicroseconds(2);

digitalWrite(TrigPinIn,HIGH);

delayMicroseconds(5);

digitalWrite(TrigPinIn,LOW);

durationIn= pulseIn(EchoPinIn, HIGH);

inchesIn =microsecondsToInches(durationIn);

cmIn =microsecondsToCentimeters(durationIn);

Serial.print(inchesIn);

Serial.print("in,");

Serial.print(cmIn);

Serial.print("cmIIIIN");

Serial.println();

delay(30);    //100

if(cmIn<=30.0 )

     {

      stepper.step(180);//正半圈  

       Serial.println("--------------------------");

      delay(1000);  //要修正

     }

     else

     {

     stepper.step(0);//　停止運轉  

      delay(1000);

     }

}

longmicrosecondsToInches(long microseconds)

{

//According to Parallax's datasheet for the PING))), there are

// 73.746microseconds per inch (i.e. sound travels at 1130 feet per

//second). This gives the distance travelled by the ping, outbound

// andreturn, so we divide by 2 to get the distance of the obstacle.

// See:http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf

returnmicroseconds / 74 / 2;

}

longmicrosecondsToCentimeters(long microseconds)

{

// Thespeed of sound is 340 m/s or 29 microseconds per centimeter.

// Theping travels out and back, so to find the distance of the

// objectwe take half of the distance travelled.

returnmicroseconds / 29 / 2;

}

有甚麼地方修改，還請大大們看看一下