Stepper motor acceleration-constant speed-deceleration operation program (C51 source program)

Function: The stepper motor starts in an accelerated mode, and after the speed reaches the maximum speed specified by the program, it keeps running at a constant speed for a period of time, and then starts to decelerate.

The demo program is run in the same way until the stepper motor stops rotating. The K1 key controls the running of the demo program. D1-D4 on the stepper motor module can indicate the working status.

/******************************************************************/
/* */
/* ME300B MCU Development System Demonstration Program - Stepper Motor Acceleration and Deceleration Running Program */
/* */
/* When the stepper motor starts, the speed gradually accelerates from slow to fast. */
/* Stepper motor runs at a constant speed */ 
/* Stepper motor gradually decelerates from fast to slow and stops */
/* Website http://www.elecfans.com                                                   */
 /******************************************************************/
    
#include        //51 chip pin definition header file
#include        //Internally contains the delay function _nop_();

#define uchar unsigned char
#define uint unsigned int

sbit K1=P1^4;
uchar co de FFW[8]={0xf1,0xf3,0xf2,0xf6,0xf4,0xfc,0xf8,0xf9};
//uchar co de REV[8]={0xf9,0xf8,0xfc, 0xf4,0xf6,0xf2,0xf3,0xf1};
uchar rate ;        
/**************************************** *********************/
/*                                                  
/* Delay
/* 11.0592MHz clock,                                    
/*                                                      
/****************** *******************************************/
void delay()
 {                           
   uchar k;
   uint s;
   k = rate;
   do
    {
       for(s = 0; s <500; s++);  
    }while(--k);
 }
/****************** ******************************************/
/*
/*Stepper motor forward rotation
/*
/******************************************** ****************/
void motor_ffw()
{ 
   uchar i;
 
    for (i=0; i<8; i++) //One cycle rotates 30 degrees
    {
       P1 = FFW[i ]; //Get data
       delay(); //Adjust speed
    }
}

/************************************************************
*                                                       
*Stepper motor operation                                               
*                                                      
*********************************************************/
void motor_turn()
{ 
   uchar x;
   rate=0x10;
   x=0xf0;
   do
     {
        motor_ffw(); //acceleration
        rate--;
     }while(rate!=0x01);

   do
     {     
        motor_ffw(); //Constant speed
       x--;
     }while(x!=0x01);
  
   do
     {
        motor_ffw(); //Deceleration 
        rate++;
     }while(rate!=0x10);    
}

/************************************************************
*                                                       
* Main program                                               
*                                                      
**********************************************************/
main()
{     
   
   P1=0xf0;

   while(1)
  {
      P1=0xf0;
      if(K1==0)
     {
       motor_turn();
     }
  } 
}

/****************************************************** *******/