步进电机的简单使用

• 接线：
• TB6600驱动盒的详细说明：
• 程序设计：
• 工程文件：

做毕业设计要用到57步进电机，所以花了两天时间做了一下电机函数
从淘宝查的资料：


接线如图：

接线：

DIR- && PUL- 接 单片机GND
DIR+ 接 PA1
PUL+ 接 PA0
驱动盒TB6600 VCC 24V
驱动盒TB6600 GND 24V的GND
我测出来的 A组（绿+蓝- ） B组（黄+红-）

如何确定AB两组看这个：
关于42步进电机驱动——基于STM32 HAL库实现

接线方法

TB6600驱动盒的详细说明：

先冲英说明：
Microstep Driver 微步驱动程序
Microstep 微步
Pulse 脉冲

我开关SW设置成这个样：

1 off
2 off
3 on
4 on
5 on
6 off

对应下图：

程序设计：

代码我参考我之前用arduino写的驱动程序
hal库设置：

main.c:

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "my_lib.h"
int QuanShu;
int ITjishu;
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
int fputc(int ch, FILE *f){
HAL_UART_Transmit (&huart1,(uint8_t *)&ch,1,0xffff);
	return ch;
}
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_TIM_Base_Start_IT(&htim2);//启动定时器中断
	HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);//启动定时器中断

  /* USER CODE END 2 */
  
	__HAL_TIM_SetAutoreload(&htim2,500);		//设置速度快慢
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 250);//设置脉冲  用不到
	
	dianji_kongzhi(up,90,800);
	HAL_Delay(5000);
//	dianji_kongzhi(down,90,800);
//	HAL_Delay(5000);		  
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {  
  
//	dianji_kongzhi(up,200,800);
//	HAL_Delay(5000);
//	dianji_kongzhi(down,200,800);
//	HAL_Delay(5000);
//	dianji_kongzhi(up,100,800);
//	HAL_Delay(5000);
//	dianji_kongzhi(down,100,800);
//	HAL_Delay(5000);	  

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
  HAL_Delay(500);
  HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_SET);
  HAL_Delay(500); 

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}


/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)		//中断溢出服务函数，每一个周期进入一次中断
{
  if (htim == (&htim2))
    {
      ITjishu++;
		if(ITjishu>=3200)	//3200个脉冲=1圈
		{
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 0);//设置脉冲为0，转完一圈就停
		ITjishu=0;
		}
    }

}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

my_lib.h:

#ifndef __MY_LIB_H__
#define __MY_LIB_H__

#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "dian_ji.h"
#include "stdio.h"

extern int ITjishu;	//中断计数

#endif

dian_ji.c:

#include "dian_ji.h"
#include "tim.h"

void dianji_init(void)
{
}
void  dianji_kongzhi(int fangxiang,int sudu,int zhuoqi)
{
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, fangxiang);
	__HAL_TIM_SetAutoreload(&htim2,sudu);		//设置速度快慢
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, (sudu/2));//设置脉冲  用不到
	QuanShu=zhuoqi;
}

dian_ji.h

#ifndef __DIAN_JI_H__
#define __DIAN_JI_H__

#include "main.h"
#include "gpio.h"
#include "my_lib.h"

#define up 1
#define down 0

extern int AutoReload_data;	//自动重装载值
extern int MaiChong;	//脉冲
extern int QuanShu;	//圈数

void dianji_init(void);
void dianji_set(void);
void dianji_kongzhi(int fangxiang,int sudu,int zhuoqi);	//方向，速度

#endif

tim.c(没改，给自己留着做参考):

/**
  ******************************************************************************
  * @file    tim.c
  * @brief   This file provides code for the configuration
  *          of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim2;

/* TIM2 init function */
void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 72-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 800-1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 400;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);

}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  if(tim_pwmHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();

    /* TIM2 interrupt Init */
    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM2_IRQn);
  /* USER CODE BEGIN TIM2_MspInit 1 */

  /* USER CODE END TIM2_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspPostInit 0 */

  /* USER CODE END TIM2_MspPostInit 0 */

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM2 GPIO Configuration
    PA0-WKUP     ------> TIM2_CH1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM2_MspPostInit 1 */

  /* USER CODE END TIM2_MspPostInit 1 */
  }

}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  if(tim_pwmHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();

    /* TIM2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM2_IRQn);
  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

理论上角度是可控的了，
3200个脉冲为一个周期，映射成360度
1600个脉冲，为180度
800个脉冲，为90度
400个脉冲，为45度
45°x=400
x约等于9（8.888888888888889）
得出角度系数约等于9
945=405
9*8.888888888889=400.000000000005
（小偏差，我能接受，但是做项目不行，你们有更好的算角度的，可以留言说一下）

工程文件：

我的工程文件