我用PWM波驱动步进电机，步进电机从240RPM加速到2400RPM，运用了S曲线加速

2019-07-14 18:49发布

程序如下：
//S加速

int value4[]={
20000, 19940, 19880, 19810, 19740, 19670, 19590, 19510, 19430, 19340, 19250, 19160, 19060, 18960, 18850, 18740, 18630, 18510, 18390, 18270, 18140, 18000, 17860, 17720, 17570, 17420, 17260, 17100, 16930, 16760, 16580, 16400, 16220, 16030, 15830, 15630, 15430, 15230, 15020, 14800, 14580, 14360, 14140, 13910, 13680, 13450, 13220, 12980, 12740, 12500, 12260, 12020, 11780, 11540, 11300, 11060, 10820, 10580, 10340, 10110, 9870, 9640, 9410, 9180, 8960, 8740, 8520, 8300, 8090, 7890, 7680, 7480, 7290, 7100, 6910, 6730, 6560, 6380, 6220, 6050, 5900, 5740, 5590, 5450, 5310, 5170, 5040, 4920, 4790, 4680, 4560, 4450, 4350, 4250, 4150, 4050, 3960, 3880, 3790, 3710, 3640, 3560, 3490, 3420, 3360, 3300, 3240, 3180, 3120, 3070, 3020, 2970, 2930, 2890, 2840, 2800, 2770, 2730, 2690, 2660, 2630, 2600, 2570, 2540, 2520, 2490, 2470, 2440, 2420, 2400, 2380, 2360, 2340, 2330, 2310, 2300, 2280, 2270, 2250, 2240, 2230, 2220, 2210, 2200, 2190, 2180, 2170, 2160, 2150, 2140, 2130, 2130, 2120, 2110, 2110, 2100, 2100, 2090, 2090, 2080, 2080, 2070, 2070, 2060, 2060, 2060, 2050, 2050, 2050, 2040, 2040, 2040, 2040, 2030, 2030, 2030, 2030, 2030, 2020, 2020, 2020, 2020, 2020, 2020, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2000, 2000, 2000, 2000, 2000, 2000, 2000
};

//S减速
int value5[]={
2000, 2000, 2000, 2000, 2000, 2000, 2000, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2010, 2020, 2020, 2020, 2020, 2020, 2020, 2030, 2030, 2030, 2030, 2030, 2040, 2040, 2040, 2040, 2050, 2050, 2050, 2060, 2060, 2060, 2070, 2070, 2080, 2080, 2090, 2090, 2100, 2100, 2110, 2110, 2120, 2130, 2130, 2140, 2150, 2160, 2170, 2180, 2190, 2200, 2210, 2220, 2230, 2240, 2250, 2270, 2280, 2300, 2310, 2330, 2340, 2360, 2380, 2400, 2420, 2440, 2470, 2490, 2520, 2540, 2570, 2600, 2630, 2660, 2690, 2730, 2770, 2800, 2840, 2890, 2930, 2970, 3020, 3070, 3120, 3180, 3240, 3300, 3360, 3420, 3490, 3560, 3640, 3710, 3790, 3880, 3960, 4050, 4150, 4250, 4350, 4450, 4560, 4680, 4790, 4920, 5040, 5170, 5310, 5450,

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