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
cpp
#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
cpp
/* 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