这个例子做的是去年全国电子电子设计大赛E题，悬挂运动控制系统（E题），我只做了画线和画圆两个部分，纯粹是玩，所以精度不是很高，终点定位精度误差差不多0.5cm左右，画圆在两个斜率无穷大区误差较大需要修正。

一开始我用的是L297+L298驱动，感觉脉冲相位控制比较麻烦，后来想到avr相对51的速度，用B口模拟脉冲，L293驱动。电机我用的是两个42BYG四相八拍六线步进电机，资料很好找。

这个试验做起来可能有点麻烦，比赛的时候需要特定的板子，就象附件E题里所示，注意电机转动的时候不能让绕线重叠，会严重影响精度，绳子要用无弹性的，我用的是去渔具店买的尼龙的无弹性渔线。

-this example so last year's national electronic Electronic Design Competition E. issue, the hoisting of Motion Control System (E) by I only went for the painting and the Circle Line 2, purely for fun, and so accuracy is not very high, end positioning accuracy error of almost 0.5 cm, the two Circle infinite slope of the error greater need for the amendment. I started with one of the L297 L298-driven, phase-control pulse feeling more trouble Later thought 51 avr relative speed, I simulated B pulse, L293-driven. I used the motor is BYG 4 2 42 8 shoot six phase stepper motor line, looking for good information. The pilot may have made up trouble, competitions specific needs of the board, as that Lane Annex E, as shown in attention to the motor rotation can not let Wound overlap, will seriou