一、适用场景
适用场景：小车差速/定位、微型机械臂关节、门栓/阀门微调、以步进精度做角度控制的低速场合、嵌入式 PWM/GPIO/驱动练习与教学。
二、器材清单
28BYJ-48 步进电机（常见 5V 带减速箱）×1
ULN2003 驱动板（或等效达林顿阵列驱动）×1
stm32f103（或其它 STM32）开发板 ×1
稳定 5V 电源（电机供电）×1
若干杜邦线
三、工作原理（要点）
电机与减速比：28BYJ-48 通常为单极四相步进电机，电机本体步距角常为 5.625°，电机轴每转需 360 / 5.625 = 64 步；电机带一级减速箱（典型标称 64:1），因此输出轴每转步数约 64 × 64 = 4096 步（不同厂家有细微差异，实际以传动箱标注/测量为准）。
推导（数位检算）：360 / 5.625 = 64；64 × 64 = 4096；输出角度 = 360 / 4096 ≈ 0.087890625°/步。
驱动方式：ULN2003 板是 NPN 达林顿阵列，按输入 IN1..IN4 对应线圈缠绕的通电次序做开闭即可驱动。ULN2003 为下拉（SINK）驱动：板子将线圈另一端接到电源正极，IN 引脚接高时导通到地流过线圈。板上通常带有反向二极管/保护。
常用驱动序列：常见有三种序列——单相激励（wave drive，4 步）、双相激励（full step，4 步但两相同时通电）、半步（half-step，8 步，兼顾扭矩和平滑）。半步常用于平衡分辨率与扭矩。
步进控制思想：通过改变步序索引（加/减）并在步与步之间等待适当延时来产生转速；在启动/停止时做加减速（ramp）可避免漏步。
四、接线示意
VCC → +5V
GND → GND
标准库
HAL库
IN1-4--PA4-7
五、示例代码
标准库
#include "stm32f10x.h" #include "oled.h" #include "bsp_SysTick.h" void emGPIO_Init(void); unsigned int z_step[8]={0x0070,0x0030,0x0050,0x0090,0x00d0,0x00c0,0x00e0,0x0060}; unsigned int f_step[8]={0x0060,0x00e0,0x00c0,0x00d0,0x0090,0x0050,0x0030,0x0070}; int main() { int step=0; SysTick_Init(); emGPIO_Init(); while(1) { if(step>=8) step=0; GPIO_Write(GPIOD,z_step[step]); Delay_us(1850); step++; } // return 0; } void emGPIO_Init(void) { GPIO_InitTypeDef PD; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE); PD.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7; PD.GPIO_Mode = GPIO_Mode_Out_PP; PD.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOD, &PD); }HAL库
/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ unsigned int z_step[8]={0x0070,0x0030,0x0050,0x0090,0x00d0,0x00c0,0x00e0,0x0060}; unsigned int f_step[8]={0x0060,0x00e0,0x00c0,0x00d0,0x0090,0x0050,0x0030,0x0070}; int step=0; /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { if(step>=8) step=0; GPIOA->ODR = z_step[step]; HAL_Delay(2); step++; /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ }六、讲解视频
https://www.bilibili.com/video/BV1AkmcB8Ep9/?spm_id_from=333.1387.upload.video_card.click&vd_source=f7dfe1b14f260b9cc3a146d2dbfd0719
https://www.bilibili.com/video/BV1pwmcBoEJU/?spm_id_from=333.1387.upload.video_card.click&vd_source=f7dfe1b14f260b9cc3a146d2dbfd0719
https://www.bilibili.com/video/BV1pwmcBoE4m/?spm_id_from=333.1387.upload.video_card.click&vd_source=f7dfe1b14f260b9cc3a146d2dbfd0719