给函数和声明添加中文注释并将注释翻译成中文 A4988 - Stepper Motor Driver Driver Indexer mode only Copyright C2015 Laurentiu Badea This file may be redistributed under the terms of the MIT license A copy of this licen

/*

• A4988 - 步进电机驱动器

• 只支持索引模式。

• 版权所有(C)2015 Laurentiu Badea

• 此文件可以在MIT许可下重新分发。

• 此分发中的文件LICENSE中已包含此许可的副本。 */ #include "A4988.h"

/*

• 微步分辨率真值表（A4988 pdf第6页）
• 0bMS3，MS2，MS1分别对应1、2、4、8、16微步 */ const uint8_t A4988::MS_TABLE[] = {0b000， 0b001， 0b010， 0b011， 0b111};

/*

• 基本连接：仅连接DIR、STEP。
• 微步控制应硬连线。 */ A4988::A4988(short steps, short dir_pin, short step_pin) :BasicStepperDriver(steps, dir_pin, step_pin) {}

A4988::A4988(short steps, short dir_pin, short step_pin, short enable_pin) :BasicStepperDriver(steps, dir_pin, step_pin, enable_pin) {}

/*

• 全部连接。
• 所有A4988所需的控制引脚都已连接。 */ A4988::A4988(short steps, short dir_pin, short step_pin, short ms1_pin, short ms2_pin, short ms3_pin) :BasicStepperDriver(steps, dir_pin, step_pin), ms1_pin(ms1_pin), ms2_pin(ms2_pin), ms3_pin(ms3_pin) {}

A4988::A4988(short steps, short dir_pin, short step_pin, short enable_pin, short ms1_pin, short ms2_pin, short ms3_pin) :BasicStepperDriver(steps, dir_pin, step_pin, enable_pin), ms1_pin(ms1_pin), ms2_pin(ms2_pin), ms3_pin(ms3_pin) {}

void A4988::begin(float rpm, short microsteps){ BasicStepperDriver::begin(rpm, microsteps);

if (!IS_CONNECTED(ms1_pin) || !IS_CONNECTED(ms2_pin) || !IS_CONNECTED(ms3_pin)){
    return;
}

pinMode(ms1_pin, OUTPUT);
pinMode(ms2_pin, OUTPUT);
pinMode(ms3_pin, OUTPUT);

}

/*

• 设置微步模式（1：除数）

• A4988允许的范围为1：1到1：16

• 如果未连接控制引脚，则仅重新计算时间 */ short A4988::setMicrostep(short microsteps){ BasicStepperDriver::setMicrostep(microsteps);

  if (!IS_CONNECTED(ms1_pin) || !IS_CONNECTED(ms2_pin) || !IS_CONNECTED(ms3_pin)){ return this->microsteps; }

  const uint8_t* ms_table = getMicrostepTable(); size_t ms_table_size = getMicrostepTableSize();

  unsigned short i = 0; while (i < ms_table_size){ if (this->microsteps & (1<<i)){ uint8_t mask = ms_table[i]; digitalWrite(ms3_pin, mask & 4); digitalWrite(ms2_pin, mask & 2); digitalWrite(ms1_pin, mask & 1); break; } i++; } return this->microsteps; }

const uint8_t* A4988::getMicrostepTable(){ return A4988::MS_TABLE; }

size_t A4988::getMicrostepTableSize(){ return sizeof(A4988::MS_TABLE); }

short A4988::getMaxMicrostep(){ return A4988::MAX_MICROSTEP;