转一个步进电机加减速程序
源码转载自bilibili UP主 专业瞎搞：
https://www.bilibili.com/video/BV1op4y1C7vR

他原版本是C的，改成了python
我只是搬运工

from pyb import udelay
import random
import math

from pyb import Pin
import time
import utime




class Stepper:
    def __init__(self, step_pin, dir_pin, step_time=200):
        # 初始化
        self.DirPin = dir_pin
        self.PulPin = step_pin

        self.DirPin.init(Pin.OUT_PP)
        self.PulPin.init(Pin.OUT_PP)

        self.CurrentStepTime = step_time
        self.TargetStepTime = 500
        self.LastStepSt = 0
        self.CurrentStep = 0
        self.TargetStep = 0
        self.StartStep = 0
        self.Acceleration = 600  # 加速度(步 / 秒~2）
        self.SpeedUpStep = 0  # 加速段的步数
        self.SpeedDownStep = 0 # 减速段的步数
        self.IsDebug = False

        self._speedChangeMinimumDis = 0  # 速度变化时重新计算的最小的加减速步数

    def SetAcceleration(self, acceleration):
        self.Acceleration = acceleration
        self.calCulateSpeedChangeMinimunDis()

    def IsRunToTarget(self):
        return self.TargetStep == self.CurrentStep

    def CanRun(self):
        return (utime.ticks_us() - self.LastStepSt) >= self.CurrentStepTime

    def RunTo(self, target, stepTime):
        if (self.TargetStep != target):
            self.TargetStepTime = stepTime
            self.TargetStep = target
            self.CurrentStepTime = 0
            self.StartStep = self.CurrentStep
            self.calCulateSpeedChangeMinimunDis()
            souldMoveSteps = self.TargetStep - self.CurrentStep

            # 提前规划好加减速的步数以及中间匀速运动的步数
            if (self._speedChangeMinimumDis * 2 > abs(souldMoveSteps)): #如果加减速时间过长没有匀速过程，则将应走步数对半分
                self.SpeedUpStep = souldMoveSteps / 2 + self.CurrentStep #加速到的位置为当前位置加上增量的一半
                self.SpeedDownStep = self.SpeedUpStep
            else:
                if (self.CurrentStep < self.TargetStep):  # 正向
                    self.SpeedUpStep = self._speedChangeMinimumDis + self.CurrentStep
                    self.SpeedDownStep = self.TargetStep - self._speedChangeMinimumDis
                else:  # 反向
                    self.SpeedUpStep = self.CurrentStep - self._speedChangeMinimumDis
                    self.SpeedDownStep = self.TargetStep + self._speedChangeMinimumDis
            print(self.TargetStep, self._speedChangeMinimumDis,self.SpeedUpStep,self.SpeedDownStep)

        if (self.IsRunToTarget() == False):
            if (self.CanRun()):
               self.runStep(self.CurrentStep < target)

        return self.IsRunToTarget()


    # 从0加速到指定目标速度所用的最小步数
    def calCulateSpeedChangeMinimunDis(self):
        if self.Acceleration == 0:
            self._speedChangeMinimumDis = 0
            return
        v = 1000000.0 / self.TargetStepTime  # 步 / 秒
        self._speedChangeMinimumDis = pow(v, 2) / 2 / self.Acceleration

    # 步进电机运行一步
    def runStep(self, dir):
        self.LastStepSt = utime.ticks_us()
        self.DirPin.value(dir)
        self.PulPin.value(1)
        #udelay(2)
        self.PulPin.value(0)
        self.CurrentStep += (1 if dir else -1)  # 记录每次只运行一步


        # 若加速度为0，则没有加减速部分
        if (self.Acceleration == 0):
            self.CurrentStepTime = self.TargetStepTime
            return

        #若加速度不为0，通过下一脉冲的终点速度计算下一个脉冲的时间间隔，重置步进间隔
        #v = 0.0
        if (dir):
            if (self.CurrentStep < self.SpeedUpStep or self.CurrentStep > self.SpeedDownStep):
                if (self.CurrentStep < self.SpeedUpStep):
                    v = math.sqrt(float(self.Acceleration * 2.0 * (self.CurrentStep - self.StartStep)))  # 步 / 秒
                else:
                    v = 1000000.0 / self.TargetStepTime  # 步 / 秒
                    a = float((-self.Acceleration) * 2.0 * (self.CurrentStep - self.SpeedDownStep) + pow(v, 2))
                    if a > 0:
                        v = math.sqrt(a)  # 步 / 秒
                self.CurrentStepTime = 1000000.0 / v
                self.CurrentStepTime = self.TargetStepTime if self.CurrentStepTime <= self.TargetStepTime else self.CurrentStepTime

            else:
                self.CurrentStepTime = self.TargetStepTime


        else:
            if (self.CurrentStep > self.SpeedUpStep or self.CurrentStep < self.SpeedDownStep):
                if (self.CurrentStep > self.SpeedUpStep):
                    v = math.sqrt(self.Acceleration * 2 * (self.StartStep - self.CurrentStep))  # 步 / 秒
                else:
                    v = 1000000.0 / self.TargetStepTime  # 步 / 秒
                    a = (-self.Acceleration) * 2 * abs(self.CurrentStep - self.SpeedDownStep) + pow(v, 2)
                    if a > 0:
                        v = math.sqrt(a)  # 步 / 秒
                self.CurrentStepTime = 1000000.0 / v
                self.CurrentStepTime = self.TargetStepTime if self.CurrentStepTime <= self.TargetStepTime else self.CurrentStepTime

            else:
                self.CurrentStepTime = self.TargetStepTime



step_pin = Pin('P1')
dir_pin = Pin('P0')

my_stepper = Stepper(step_pin,dir_pin)
my_stepper.SetAcceleration(8000)


da = 50000
while(True):
    a = my_stepper.RunTo(da, 80)
    if a:
        da = -da

大家好，我是新手，我想实现OPENMV跟随一条直线动态运动。我目前的计划是先用apriltag标定，然后找到直线的点，再将点转换为坐标发给运动控制程序。我想问下方向正确吗？我应该学习哪方面教程？或者使用其他更好方案？另外还有我有几点不明白的：1，apriltag只需要标定一次就可以还是每次拍照运行产品上都必须贴有这个标记，2，跟随运动能否用配套的步进电机运动控制模块，3，随动是否会抖动，是否需要增加PID控制。