fix stepper motor error

README_zh.md

@@ -51,7 +51,7 @@ MotorDriverBoard是由 [深圳市易创空间科技有限公司](www.emakefun.co
 
 
 
-#### 1、只通过Uno的DC（6~12V）头单一电源给Uno主板，驱动板，舵机同时供电。
+#### 1、只通过Uno的DC（7~12V）头单一电源给Uno主板，驱动板，舵机同时供电。
 
   应用场景:
 
@@ -163,20 +163,29 @@ mServo1->writeServo(S1); 		/*设置舵机角度 0~180*/
 #### [**stepper**](./arduino_lib/examples/motor_test/stepper/stepper.ino) 步进电机测试程序
 
 ```c++
+Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(0x60);
 Emakefun_StepperMotor *StepperMotor_1 = mMotorDriver.getStepper(1, 200);  
 /*初始化步进电机1，42步进电机走一步是1.8度，所以一圈的步数为200*/
 
-mMotorDriver.begin(1526); 			/*设置频率为最大 1526HZ*/
+mMotorDriver.begin(1600); 			/*设置频率为最大 1600*/
 
-StepperMotor_1->setSpeed(400);  	/*设置步进电机每分钟转的圈数为400圈,速度越快力矩越小*/
+StepperMotor_1->setSpeed(400);  	/*设置步进电机每分钟转的圈数为400圈, 速度越快力矩越小，这个速度不能太低，否则会抖动严重*/
 
-StepperMotor_1->step(200, FORWARD, DOUBLE); 
+StepperMotor_1->step(200, FORWARD, SINGLE); 
 /*驱动步进电机按 DOUBLE(全步)的方式，FORWARD（前进）200步。*/
 
-  /*步进电机的驱动方式 全步DOUBLE、单步SINGLE、1/2步进INTERLEAVE这三种驱动方式（步进电机的驱动原理请查阅相关资料）。*/
+/*步进电机的驱动方式 全步DOUBLE、单步SINGLE、1/2步进INTERLEAVE这三种驱动方式（步进电机的驱动原理请查阅相关资料）*/
 ```
 
-**接线图**![MotorDriverBoard_stepper](./doc/picture/ZH/stepper.png)
+**接线图**
+
+**不同步进电机的参数接线不一定一样，请一定要先确定步进电机每根线的颜色和对应A+ A- B+ B-相位（或者是A B C D）关系**
+
+下图仅供接线参考
+
+![MotorDriverBoard_stepper](./doc/picture/ZH/stepper.png)
+
+
 
 #### [**encoder**](./arduino_lib/examples/motor_test/encoder/encoder.ino)四路编码电机测试程序
 

arduino_lib/examples/base/gpio_step_test/gpio_step_test.ino

@@ -0,0 +1,57 @@
+#include "Emakefun_MotorDriver.h"
+
+#define IN1 5  //A+
+#define IN2 7  //A-
+#define IN3 4  //B+
+#define IN4 2  //B-
+#define TIME 1000
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("GPIO test!");
+  gpio.begin(1600);
+}
+
+void onesteps()
+{
+  gpio.setPin(IN1, HIGH);
+  // gpio.setPin(IN2, LOW);
+  // gpio.setPin(IN3, LOW);
+  gpio.setPin(IN4, LOW);
+  delayMicroseconds(TIME);
+
+  gpio.setPin(IN1, LOW);
+  // gpio.setPin(IN2, LOW);
+  gpio.setPin(IN3, HIGH);
+  // gpio.setPin(IN4, LOW);
+  delayMicroseconds(TIME);
+
+  gpio.setPin(IN3, LOW);
+  gpio.setPin(IN2, HIGH);
+  // gpio.setPin(IN1, LOW);
+  // gpio.setPin(IN4, LOW);
+  delayMicroseconds(TIME);
+
+  gpio.setPin(IN2, LOW);
+  // gpio.setPin(IN1, LOW);
+  // gpio.setPin(IN3, LOW);
+  gpio.setPin(IN4, HIGH);
+  delayMicroseconds(TIME);
+}
+
+void StepStop()
+{
+  gpio.setPin(IN1, LOW);
+  gpio.setPin(IN2, LOW);
+  gpio.setPin(IN3, LOW);
+  gpio.setPin(IN4, LOW);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  for (int i = 0; i < 200; i++) {
+    onesteps();
+  }
+  StepStop();
+  delay(2000);
+}

arduino_lib/examples/motor_test/stepper/stepper.ino

@@ -1,14 +1,14 @@
 #include "Emakefun_MotorDriver.h"
 
-Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(0x40);
+Emakefun_MotorDriver mMotorDriver = Emakefun_MotorDriver(0x60);
 
 Emakefun_StepperMotor *StepperMotor_1 = mMotorDriver.getStepper(STEPPER1, 200);
 Emakefun_StepperMotor *StepperMotor_2 = mMotorDriver.getStepper(STEPPER2, 200);
 
 void setup()
 {
     Serial.begin(9600);
-    mMotorDriver.begin(1526);
+    mMotorDriver.begin(1600);
     StepperMotor_1->setSpeed(400);
     StepperMotor_2->setSpeed(400);
 }

arduino_lib/src/Emakefun_MotorDriver.cpp

@@ -169,10 +169,20 @@ Emakefun_StepperMotor *Emakefun_MotorDriver::getStepper(uint8_t num, uint16_t st
     uint8_t ain1, ain2, bin1, bin2;
     if (num == 0) {
         ain1 = 8; ain2 = 10;
-        bin1 = 13; bin2 = 11;
+#ifdef MOTOR_DRIVER_V5_2
+        bin1 = 11; bin2 = 13;
+#else
+		bin1 = 13; bin2 = 11;
+#endif
+
     } else if (num == 1) {
         ain1 = 5; ain2 = 7;
-        bin1 = 2; bin2 = 4;
+#ifdef MOTOR_DRIVER_V5_2
+
+        bin1 = 4; bin2 = 2;
+#else
+		bin1 = 2; bin2 = 4;
+#endif
     }
     steppers[num].AIN1pin = ain1;
     steppers[num].AIN2pin = ain2;
@@ -651,8 +661,8 @@ uint8_t Emakefun_StepperMotor::onestep(uint8_t dir, uint8_t style) {
           //Serial.println("BIN1 1");
           MC->setPWM(BIN1pin, 4096);
         } else {
-          Serial.println("BIN1 0");
-          //MC->setPin(BIN1pin, LOW);
+          //Serial.println("BIN1 0");
+          MC->setPin(BIN1pin, LOW);
         }
     }
     if (chang_state&0x4) {

arduino_lib/src/Emakefun_MotorDriver.h

@@ -23,8 +23,9 @@
 #include <inttypes.h>
 
 //#define MOTORDEBUG
+#define MOTOR_DRIVER_V5_2
 
-#define MICROSTEPS 16 // 8 or 16
+#define MICROSTEPS 8 // 8 or 16
 
 #define MOTOR1_A 2
 #define MOTOR1_B 3
@@ -65,7 +66,7 @@
 #define E4 4
 
 #define STEPPER1 1
-#define STEPPER1 2
+#define STEPPER2 2
 
 class Emakefun_MotorDriver;
 /** Object that controls and keeps state for a Servo */