RaspberryPi 5でステッピングモーター制御
2025-11-22 raspiRaspberryPiのGPIOを使って、ステッピングモータ(28BYJ-48)を制御するサンプルプログラムです。
以下の記事を参考に作成していますが、RaspberryPi5ではpigpioが使えない(はず?)ので、それに頼らないように書き換えています。
import time
from gpiozero import OutputDevice
# PIN settings
PIN_MOTOR_1 = 2
PIN_MOTOR_2 = 3
PIN_MOTOR_3 = 4
PIN_MOTOR_4 = 17
# wave mode
vlist_wave = [
[1, 0, 0, 0], # step1
[0, 1, 0, 0], # step2
[0, 0, 1, 0], # step3
[0, 0, 0, 1], # step4
[1, 0, 0, 0], # step5(step1)
[0, 1, 0, 0], # step6(step2)
[0, 0, 1, 0], # step7(step3)
[0, 0, 0, 1], # step8(step4)
]
# full mode
vlist_full = [
[1, 1, 0, 0], # step1
[0, 1, 1, 0], # step2
[0, 0, 1, 1], # step3
[1, 0, 0, 1], # step4
[1, 1, 0, 0], # step5(step1)
[0, 1, 1, 0], # step6(step2)
[0, 0, 1, 1], # step7(step3)
[1, 0, 0, 1], # step8(step4)
]
# half mode
vlist_half = [
[1, 0, 0, 0], # step1
[1, 1, 0, 0], # step2
[0, 1, 0, 0], # step3
[0, 1, 1, 0], # step4
[0, 0, 1, 0], # step5
[0, 0, 1, 1], # step6
[0, 0, 0, 1], # step7
[1, 0, 0, 1], # step8
]
class Stepper():
def __init__(self, number_of_steps, mpins, method_step="half"):
self.step_number = 0 # which step the motor is on
self.direction = 0 # motor direction
self.last_step_time = 0 # time stamp in us of the last step taken
self.number_of_steps = number_of_steps # total number of steps for this motor
# stepping method
self._method_step = method_step
if "full" == method_step:
self._vlist = vlist_full
elif "wave" == method_step:
self._vlist = vlist_wave
else:
self._vlist = vlist_half
self._method_step = "half"
# setup the pins on the microcontroller:
self._mpins = [OutputDevice(pin) for pin in mpins]
print(f"Initialized pins: {mpins}") # デバッグ用
self.set_speed()
return
def set_speed(self, what_speed=10):
''' Sets the speed in revs per minute
'''
self.step_delay = 60 * 1000 * 1000 * 1000 / self.number_of_steps / what_speed
return
def step(self, steps_to_move, auto_stop=True):
''' Moves the motor steps_to_move steps. If the number is negative,
the motor moves in the reverse direction.
'''
if "half" == self._method_step:
steps_to_move *= 2
steps_left = abs(steps_to_move) # how many steps to take
# determine direction based on whether steps_to_mode is + or -:
self.direction = 1 if steps_to_move > 0 else 0
# decrement the number of steps, moving one step each time:
while steps_left > 0:
now = time.time_ns()
# move only if the appropriate delay has passed:
if (now - self.last_step_time) >= self.step_delay:
# get the timeStamp of when you stepped:
self.last_step_time = now
# increment or decrement the step number,
# depending on direction:
if self.direction == 1:
self.step_number += 1
if self.step_number == self.number_of_steps:
self.step_number = 0
else:
if self.step_number == 0:
self.step_number = self.number_of_steps
self.step_number -= 1
# decrement the steps left:
steps_left -= 1
# step the motor to step number 0, 1, 2, ..., 7
self._step_motor(self.step_number % 8)
if auto_stop:
self.stop()
return
def _step_motor(self, this_step):
''' 各Pinに対し、HIGH/LOW
'''
print(f"Step {this_step}: {self._vlist[this_step]}") # デバッグ用
for val, mpin in zip(self._vlist[this_step], self._mpins):
mpin.on() if val else mpin.off()
return
def stop(self):
for mpin in self._mpins:
mpin.off()
return
def main():
MOTOR_STEPS = (2048)
print("Starting stepper motor test...") # デバッグ用
# 動作モード指定
# my_motor = Stepper(MOTOR_STEPS, [PIN_MOTOR_1, PIN_MOTOR_2, PIN_MOTOR_3, PIN_MOTOR_4], "wave")
# my_motor = Stepper(MOTOR_STEPS, [PIN_MOTOR_1, PIN_MOTOR_2, PIN_MOTOR_3, PIN_MOTOR_4], "full")
my_motor = Stepper(MOTOR_STEPS, [PIN_MOTOR_1, PIN_MOTOR_2, PIN_MOTOR_3, PIN_MOTOR_4], "half")
my_motor.set_speed(10)
print("Moving motor counter-clockwise...") # デバッグ用
# 時計回り -> 反時計回り
my_motor.step(-2048)
print("Moving motor clockwise...") # デバッグ用
my_motor.step(2048)
print("Done!") # デバッグ用
# 徐々にはやく回転させる
# for speed in np.arange(5, 16, 0.01):
# my_motor.set_speed(speed)
# my_motor.step(8)
return
if __name__ == "__main__":
main()