esp32 arduino 蓝牙 使用uln2003 驱动四相五线步进电机备忘

代码很简单，直接能看明白

// Load libraries
#include "BluetoothSerial.h"

// Check if Bluetooth configs are enabled
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif

// Bluetooth Serial object
BluetoothSerial SerialBT;

// GPIO where LED is connected to
const int p1 = 12;
const int p2 = 13;
const int p3 = 25;
const int p4 = 26;
int  angle = 0;
char inputdata = 0;  //Variable for storing received data


void setup() {
  // 初始化引脚
  pinMode(p1, OUTPUT);
  pinMode(p2, OUTPUT);
  pinMode(p3, OUTPUT);
  pinMode(p4, OUTPUT);
  digitalWrite(p1, LOW);
  digitalWrite(p2, LOW);
  digitalWrite(p3, LOW);
  digitalWrite(p4, LOW);
  //初始化蓝牙
  Serial.begin(115200);
  // Bluetooth device name
  SerialBT.begin("ESP32");
  Serial.println("The device started, now you can pair it with bluetooth!");
  
}
void right() {
  angle = angle + 45;
  for (int i = 0; i < 16; i++) {
    digitalWrite(p1, HIGH);
    digitalWrite(p2, LOW);
    digitalWrite(p3, LOW);
    digitalWrite(p4, LOW);
    delay(10);
    digitalWrite(p1, LOW);
    digitalWrite(p2, HIGH);
    digitalWrite(p3, LOW);
    digitalWrite(p4, LOW);
    delay(10);
    digitalWrite(p1, LOW);
    digitalWrite(p2, LOW);
    digitalWrite(p3, HIGH);
    digitalWrite(p4, LOW);
    delay(10);
    digitalWrite(p1, LOW);
    digitalWrite(p2, LOW);
    digitalWrite(p3, LOW);
    digitalWrite(p4, HIGH);
    delay(10);
  }


}
//左转
void left() {
  angle = angle - 45;
  for (int i = 0; i < 16; i++) {
    digitalWrite(p1, LOW);
    digitalWrite(p2, LOW);
    digitalWrite(p3, LOW);
    digitalWrite(p4, HIGH);
    delay(10);
    digitalWrite(p1, LOW);
    digitalWrite(p2, LOW);
    digitalWrite(p3, HIGH);
    digitalWrite(p4, LOW);
    delay(10);
    digitalWrite(p1, LOW);
    digitalWrite(p2, HIGH);
    digitalWrite(p3, LOW);
    digitalWrite(p4, LOW);
    delay(10);
    digitalWrite(p1, HIGH);
    digitalWrite(p2, LOW);
    digitalWrite(p3, LOW);
    digitalWrite(p4, LOW);
    delay(10);
  }
}
// 回原位并拉低所有电平
void stoprun() {
  int zero = angle / 45;
  Serial.print("zero:");
  Serial.print(zero);
  if (zero > 0) {
    for (int i = 0; i<zero; i++) {

      Serial.print("stop:left\n");
      left();
    }
  }
  if (zero < 0) {
    for (int i = 0; i<-zero; i++) {
      right();
      Serial.print("stop:right\n");
    }
  }
  digitalWrite(p1, LOW);
  digitalWrite(p2, LOW);
  digitalWrite(p3, LOW);
  digitalWrite(p4, LOW);
}
void loop() {
  if (SerialBT.available() > 0)     // Send data only when you receive data:
  {
    inputdata = SerialBT.read();        //Read the incoming data & store into data
    Serial.print(inputdata);
    Serial.print("\n");

    if (angle / 360 == 1) {
      angle = 0;
    }
    //接收到1右转45度
    if (inputdata == '1')
    {
      right();
      SerialBT.printf("%s:%d", "right", angle);
    }
    //接收到0拉低所有电平,回原位
    else if (inputdata == '0')
    {
      stoprun();
      SerialBT.print("LED OFF\n");
    }
    //接受到2左转
    else if (inputdata == '2')
    {
      left();
      SerialBT.print("LED OFF\n");
    }
  }

}