1: 

2: /*

3: Stepper Motor Control - one revolution

4:

5: This program drives a unipolar or bipolar stepper motor.

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

7:

8: The motor should revolve one revolution in one direction, then

9: one revolution in the other direction.

10:

11:

12: Created 11 Mar. 2007

13: Modified 30 Nov. 2009

14: by Tom Igoe

15:

16: */

17: 

18: #include 
      

19: 

20: int stepsPerRevolution = 200;

21: int pbIn = 5;

22: 

23: 

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

25: 

26: void setup() {

27: attachInterrupt(pbIn,stateChange,RISING);

28: // set the speed at 60 rpm:

29: myStepper.setSpeed(60);

30: // initialize the serial port:

31: Serial.begin(9600);

32: }

33: 

34: void loop() {

35: // step one revolution in one direction:

36: Serial.println("clockwise");

37: myStepper.step(stepsPerRevolution);

38: delay(500);

39: }

40: 

41: void stateChange()

42: {

43: stepsPerRevolution = -stepsPerRevolution;

44: }

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！