请豆包帮忙写的，调整几次之后，可以正常运行，用的是Arduino板子，豆包写梯形图的能力还不强，写这种编程语言厉害些。
// 定义步进电机控制引脚
const int stepPin = 2;
const int dirPin = 3;
// 定义启动按键引脚
const int startButtonPin = 4;
// 定义 12 个开关引脚
const int switchPins[12] = {5, 6, 7, 8, 9, 10, 11, 12, 13, A0, A1, A2};
// 定义原点感应点位引脚
const int originPin = A3;
// 定义料件感应点位引脚
const int materialSensorPin = A4;
// 定义振动盘点位引脚
const int vibrationDiskPin = A5;
// 定义步进电机参数
const int stepsPerRevolution = 1000; // 步进电机每转脉冲数
// 定义速度参数（毫秒）
const unsigned long normalSpeedDelay = 1; // 正常速度延迟
const unsigned long fastSpeedDelay = 0.2; // 快速速度延迟
const unsigned long returnSpeedDelay = 0.5; // 返回原点速度延迟
// 定义停留时间（毫秒）
const unsigned long pauseTime = 500;
// 定义变量
bool startButtonState = false;
bool lastStartButtonState = false;
bool isRunning = false;
bool isReturning = false;
int currentSegment = 0;
int remainingSteps = stepsPerRevolution;
unsigned long lastStepTime = 0;
unsigned long lastPauseTime = 0;
bool isPausing = false;
void setup() {
// 初始化步进电机控制引脚为输出模式
pinMode(stepPin, OUTPUT);
pinMode(dirPin, OUTPUT);
// 初始化启动按键引脚为输入模式，并启用上拉电阻
pinMode(startButtonPin, INPUT_PULLUP);
// 初始化 12 个开关引脚为输入模式，并启用上拉电阻
for (int i = 0; i < 12; i++) {
pinMode(switchPins, INPUT_PULLUP);
}
// 初始化原点感应点位引脚为输入模式，并启用上拉电阻
pinMode(originPin, INPUT_PULLUP);
// 初始化料件感应点位引脚为输入模式，并启用上拉电阻
pinMode(materialSensorPin, INPUT_PULLUP);
// 初始化振动盘点位引脚为输出模式
pinMode(vibrationDiskPin, OUTPUT);
// 设置初始方向
digitalWrite(dirPin, HIGH);
}
void loop() {
// 读取启动按键状态
startButtonState = digitalRead(startButtonPin);
// 检测启动按键按下事件
if (startButtonState == LOW && lastStartButtonState == HIGH) {
isRunning = true;
currentSegment = 0;
remainingSteps = stepsPerRevolution;
isReturning = false;
}
// 保存上一次启动按键状态
lastStartButtonState = startButtonState;
// 控制振动盘
bool materialDetected = digitalRead(materialSensorPin) == LOW;
digitalWrite(vibrationDiskPin, !materialDetected);
// 如果电机正在运行
if (isRunning) {
if (isReturning) {
unsigned long currentTime = millis();
if (currentTime - lastStepTime >= returnSpeedDelay) {
digitalWrite(dirPin, LOW); // 设置返回方向
digitalWrite(stepPin, HIGH);
delayMicroseconds(10); // 确保脉冲宽度
digitalWrite(stepPin, LOW);
lastStepTime = currentTime;
if (digitalRead(originPin) == LOW) {
isRunning = false;
isReturning = false;
digitalWrite(dirPin, HIGH); // 恢复正向
}
}
} else {
if (isPausing) {
if (millis() - lastPauseTime >= pauseTime) {
isPausing = false;
}
} else {
unsigned long currentTime = millis();
bool switchState = digitalRead(switchPins[currentSegment]);
unsigned long speedDelay = switchState ? normalSpeedDelay : fastSpeedDelay;
if (currentTime - lastStepTime >= speedDelay) {
if (remainingSteps > 0) {
digitalWrite(stepPin, HIGH);
delayMicroseconds(10); // 确保脉冲宽度
digitalWrite(stepPin, LOW);
remainingSteps--;
lastStepTime = currentTime;
}
if (remainingSteps * 12 <= (11 - currentSegment) * stepsPerRevolution) {
if (switchState) {
isPausing = true;
lastPauseTime = currentTime;
}
currentSegment++;
}
if (currentSegment >= 12) {
isReturning = true;
}
}
}
}
}
// 短暂延迟以减少 CPU 负载
delay(1);
}
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