uln2003

一个简单的crate，用于在支持嵌入式_hal的任何硬件上使用ULN2003驱动器控制28BYJ-48步进电机

使用方法

这两个esp32示例都使用如此教程中所示的结构

使用esp-hal (no_std)的esp32示例

fn main() {
    let peripherals = Peripherals::take();
    let system = SystemControl::new(peripherals.SYSTEM);

    let clocks = ClockControl::max(system.clock_control).freeze();
    let delay = Delay::new(&clocks);

    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
    let mut motor = ULN2003::new(
        Output::new(io.pins.gpio19, Level::Low),
        Output::new(io.pins.gpio18, Level::Low),
        Output::new(io.pins.gpio5, Level::Low),
        Output::new(io.pins.gpio17, Level::Low),
        Some(delay)
    );
    
    // run for 100 steps with 5 ms between steps
    motor.step_for(100, 5).unwrap();

    loop {
        motor.step();
        delay.delay_ms(5u32);
    }
}

使用esp-idf-hal (std)的示例

use esp_idf_hal::delay;
use esp_idf_hal::gpio::PinDriver;
use esp_idf_hal::prelude::*;
use uln2003::{StepperMotor, ULN2003};

fn main() {
    // It is necessary to call this function once. Otherwise some patches to the runtime
    // implemented by esp-idf-sys might not link properly. See https://github.com/esp-rs/esp-idf-template/issues/71
    esp_idf_svc::sys::link_patches();
    // Bind the log crate to the ESP Logging facilities
    esp_idf_svc::log::EspLogger::initialize_default();
    let peripherals = Peripherals::take().unwrap();
    let mut motor = ULN2003::new(
        PinDriver::output(peripherals.pins.gpio19).unwrap(),
        PinDriver::output(peripherals.pins.gpio18).unwrap(),
        PinDriver::output(peripherals.pins.gpio5).unwrap(),
        PinDriver::output(peripherals.pins.gpio17).unwrap(),
        Some(delay::Delay::new_default()),
    );

    // run for 100 steps with 5 ms between steps
    motor.step_for(100, 5).unwrap();

    // manually do steps
    loop {
        motor.step().unwrap();
        delay::FreeRtos::delay_ms(5);
    }
}