网站模板制作教程,济宁专业网站建设,WordPress用quic协议,百度网站收录更新37款传感器与执行器的提法#xff0c;在网络上广泛流传#xff0c;其实Arduino能够兼容的传感器模块肯定是不止这37种的。鉴于本人手头积累了一些传感器和执行器模块#xff0c;依照实践出真知#xff08;一定要动手做#xff09;的理念#xff0c;以学习和交流为目的在网络上广泛流传其实Arduino能够兼容的传感器模块肯定是不止这37种的。鉴于本人手头积累了一些传感器和执行器模块依照实践出真知一定要动手做的理念以学习和交流为目的这里准备逐一动手尝试系列实验不管成功程序走通与否都会记录下来—小小的进步或是搞不掂的问题希望能够抛砖引玉。
【Arduino】168种传感器模块系列实验资料代码图形编程仿真编程 实验一百八十二DRV8833 电机驱动板模块 小体积高性能 2路直流电机驱动板 自平衡小车 代替TB6612FNG DRV8833电机驱动模块电原理图 Arduino DRV8833电机控制器库 https://codeload.github.com/TheArduinist/DRV8833/zip/master
https://cfhcable.dl.sourceforge. … ler_library-0.2.zip 【Arduino】168种传感器模块系列实验资料代码图形编程仿真编程 实验一百八十二DRV8833 电机驱动板模块 小体积高性能 2路直流电机驱动板 自平衡小车 代替TB6612FNG
Arduino实验开源代码
/*
【Arduino】168种传感器模块系列实验资料代码图形编程仿真编程
实验一百八十二DRV8833 电机驱动板模块 小体积高性能 2路直流电机驱动板 自平衡小车 代替TB6612FNG
*/#define mode_pin 10
#define IN1_PIN 9
#define IN4_PIN 6
#define IN3_PIN 5
#define IN4_PIN 3void setup() {pinMode(IN1_PIN, OUTPUT);pinMode(IN4_PIN, OUTPUT);pinMode(IN3_PIN, OUTPUT);pinMode(IN4_PIN, OUTPUT);pinMode(mode_pin, INPUT);digitalWrite(IN1_PIN, LOW);digitalWrite(IN4_PIN, LOW);digitalWrite(IN3_PIN, LOW);digitalWrite(IN4_PIN, LOW);
}void loop() {int sensorValue analogRead(A0);int sensorValue1 analogRead(A1);if (digitalRead(mode_pin) LOW){digitalWrite(IN3_PIN, LOW);analogWrite(IN4_PIN, sensorValue);digitalWrite(IN1_PIN, LOW);analogWrite(IN4_PIN, sensorValue1);}if (digitalRead(mode_pin) HIGH){digitalWrite(IN4_PIN, LOW);analogWrite(IN3_PIN, sensorValue);digitalWrite(IN4_PIN, LOW);analogWrite(IN1_PIN, sensorValue1);}
}【Arduino】168种传感器模块系列实验资料代码图形编程仿真编程 实验一百八十二DRV8833 电机驱动板模块 小体积高性能 2路直流电机驱动板 自平衡小车 代替TB6612FNG
Arduino实验开源代码
/*
【Arduino】168种传感器模块系列实验资料代码图形编程仿真编程
实验一百八十二DRV8833 电机驱动板模块 小体积高性能 2路直流电机驱动板 自平衡小车 代替TB6612FNG
*/// Define the control inputs
#define MOT_A1_PIN 10
#define MOT_A2_PIN 9
#define MOT_B1_PIN 6
#define MOT_B2_PIN 5void setup(void){// Set all the motor control inputs to OUTPUTpinMode(MOT_A1_PIN, OUTPUT);pinMode(MOT_A2_PIN, OUTPUT);pinMode(MOT_B1_PIN, OUTPUT);pinMode(MOT_B2_PIN, OUTPUT);// Turn off motors - Initial statedigitalWrite(MOT_A1_PIN, LOW);digitalWrite(MOT_A2_PIN, LOW);digitalWrite(MOT_B1_PIN, LOW);digitalWrite(MOT_B2_PIN, LOW);// Initialize the serial UART at 9600 baudSerial.begin(9600);
}void loop(void){// Generate a fixed motion sequence to demonstrate the motor modes.// Ramp speed up.for (int i 0; i 11; i) {spin_and_wait(25*i, 25*i, 500);}// Full speed forward.spin_and_wait(255,255,2000);// Ramp speed into full reverse.for (int i 0; i 21 ; i) {spin_and_wait(255 - 25*i, 255 - 25*i, 500);}// Full speed reverse.spin_and_wait(-255,-255,2000);// Stop.spin_and_wait(0,0,2000);// Full speed, forward, turn, reverse, and turn for a two-wheeled base.spin_and_wait(255, 255, 2000);spin_and_wait(0, 0, 1000);spin_and_wait(-255, 255, 2000);spin_and_wait(0, 0, 1000);spin_and_wait(-255, -255, 2000);spin_and_wait(0, 0, 1000);spin_and_wait(255, -255, 2000);spin_and_wait(0, 0, 1000);
}/// Set the current on a motor channel using PWM and directional logic.
///
/// \param pwm PWM duty cycle ranging from -255 full reverse to 255 full forward
/// \param IN1_PIN pin number xIN1 for the given channel
/// \param IN2_PIN pin number xIN2 for the given channel
void set_motor_pwm(int pwm, int IN1_PIN, int IN2_PIN)
{if (pwm 0) { // reverse speedsanalogWrite(IN1_PIN, -pwm);digitalWrite(IN2_PIN, LOW);} else { // stop or forwarddigitalWrite(IN1_PIN, LOW);analogWrite(IN2_PIN, pwm);}
}/// Set the current on both motors.
///
/// \param pwm_A motor A PWM, -255 to 255
/// \param pwm_B motor B PWM, -255 to 255
void set_motor_currents(int pwm_A, int pwm_B)
{set_motor_pwm(pwm_A, MOT_A1_PIN, MOT_A2_PIN);set_motor_pwm(pwm_B, MOT_B1_PIN, MOT_B2_PIN);// Print a status message to the console.Serial.print(Set motor A PWM );Serial.print(pwm_A);Serial.print( motor B PWM );Serial.println(pwm_B);
}/// Simple primitive for the motion sequence to set a speed and wait for an interval.
///
/// \param pwm_A motor A PWM, -255 to 255
/// \param pwm_B motor B PWM, -255 to 255
/// \param duration delay in milliseconds
void spin_and_wait(int pwm_A, int pwm_B, int duration)
{set_motor_currents(pwm_A, pwm_B);delay(duration);
}代码说明 Arduino代码相当简单。它不需要任何库即可工作。草图首先声明连接到 DRV8833 控制引脚的 Arduino 引脚。
// Define the control inputs
#define MOT_A1_PIN 10
#define MOT_A2_PIN 9
#define MOT_B1_PIN 6
#define MOT_B2_PIN 5代码的设置部分初始化硬件。它将所有电机控制引脚配置为数字输出并将其设置为低电平以最初禁用两个电机。然后它以 9600 的波特率初始化串行通信。
void setup(void){// Set all the motor control inputs to OUTPUTpinMode(MOT_A1_PIN, OUTPUT);pinMode(MOT_A2_PIN, OUTPUT);pinMode(MOT_B1_PIN, OUTPUT);pinMode(MOT_B2_PIN, OUTPUT);// Turn off motors - Initial statedigitalWrite(MOT_A1_PIN, LOW);digitalWrite(MOT_A2_PIN, LOW);digitalWrite(MOT_B1_PIN, LOW);digitalWrite(MOT_B2_PIN, LOW);// Initialize the serial UART at 9600 baudSerial.begin(9600);
}代码的循环部分生成一个固定的运动序列来演示电机模式。
它首先逐渐增加电机的速度然后进入全速再次减速并反转方向到全速最后停止。
// Ramp speed up.
for (int i 0; i 11; i) {spin_and_wait(25*i, 25*i, 500);
}
// Full speed forward.
spin_and_wait(255,255,2000);// Ramp speed into full reverse.
for (int i 0; i 21 ; i) {spin_and_wait(255 - 25*i, 255 - 25*i, 500);
}// Full speed reverse.
spin_and_wait(-255,-255,2000);// Stop.
spin_and_wait(0,0,2000);停止后它演示了两轮机器人底座的转弯操作其中一个轮子向前移动另一个轮子向后移动导致机器人转动。在演示了所有这些动作之后循环重复。
// Full speed, forward, turn, reverse, and turn for a two-wheeled base.
spin_and_wait(255, 255, 2000);
spin_and_wait(0, 0, 1000);
spin_and_wait(-255, 255, 2000);
spin_and_wait(0, 0, 1000);
spin_and_wait(-255, -255, 2000);
spin_and_wait(0, 0, 1000);
spin_and_wait(255, -255, 2000);
spin_and_wait(0, 0, 1000);此草图中使用了三个用户定义的函数
set_motor_pwm()set_motor_currents()spin_and_wait()该功能使用 PWM 和方向逻辑设置电机通道上的电流。如果该值为负则电机沿一个方向旋转。如果值为 0 或正则电机停止或向另一个方向旋转。
set_motor_pwm()pwmpwmvoid set_motor_pwm(int pwm, int IN1_PIN, int IN2_PIN)
{if (pwm 0) { // reverse speedsanalogWrite(IN1_PIN, -pwm);digitalWrite(IN2_PIN, LOW);} else { // stop or forwarddigitalWrite(IN1_PIN, LOW);analogWrite(IN2_PIN, pwm);}
}该函数使用前面的函数来设置两个电机上的电流。它将每个电机的当前PWM值打印到串行监视器。
set_motor_currents()void set_motor_currents(int pwm_A, int pwm_B)
{set_motor_pwm(pwm_A, MOT_A1_PIN, MOT_A2_PIN);set_motor_pwm(pwm_B, MOT_B1_PIN, MOT_B2_PIN);// Print a status message to the console.Serial.print(Set motor A PWM );Serial.print(pwm_A);Serial.print( motor B PWM );Serial.println(pwm_B);
}该函数设置速度并等待指定的时间量然后再移动到下一个命令。它使用该函数为两个电机设置PWM值然后等待指定的毫秒。
spin_and_wait()set_motor_currents()durationvoid spin_and_wait(int pwm_A, int pwm_B, int duration)
{set_motor_currents(pwm_A, pwm_B);delay(duration);
}
