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@kidswong999 import pyb
class Stepper():
def init(self, stepnumber=200, rpms=2, power=50):
self.stepnumber = stepnumber
self.pin1 = pyb.Pin('P3', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
self.pin2 = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
self.pin3 = pyb.Pin('P1', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
self.pin4 = pyb.Pin('P0', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
tim = pyb.Timer(4, freq=1000)
self.power1 = tim.channel(1, pyb.Timer.PWM, pin=pyb.Pin("P7"), pulse_width_percent=0)
self.power2 = tim.channel(2, pyb.Timer.PWM, pin=pyb.Pin("P8"), pulse_width_percent=0)
self.set_speed(rpms)
self.set_power(power)
self.phase = self.phase_list()
def set_speed(self, rpms):
self.delay_time = int(1000000/(rpms*self.stepnumber)/2)
def step(self, num):
for i in range(num):
self.pin1.high()
self.pin2.high()
self.pin3.high()
self.pin4.high()
pyb.udelay(self.delay_time)
这个改pin的值好像电机正反转没什么影响啊。可以教我怎么改步进电机旋转方向吗?