Stap 4: Code
Nadat u hebt de installatie van de hardware nu is het tijd voor de code, dit een test-code waardoor de motoren draaien in één richting voor 10 seconden en dan keert de richting. In de volgende tutorial zal ik u tonen hoe te ontwerpen een robot met behulp van dezelfde logica.
De code kan worden gevonden hieronder u kunt kopiëren en plak de code in de Arduino IDE en uploaden naar de Raad van bestuur.
#include #define MotorSpeedSet 0x82 #define PWMFrequenceSet 0x84 #define DirectionSet 0xaa #define MotorSetA 0xa1 #define MotorSetB 0xa5 #define Nothing 0x01 #define EnableStepper 0x1a #define UnenableStepper 0x1b #define Stepernu 0x1c #define I2CMotorDriverAdd 0x0f // Set the address of the I2CMotorDriver // set the steps you want, if 255, the stepper will rotate continuely; void SteperStepset(unsigned char stepnu) { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(Stepernu); // Send the stepernu command Wire.write(stepnu); // send the steps Wire.write(Nothing); // send nothing Wire.endTransmission(); // stop transmitting } /////////////////////////////////////////////////////////////////////////////// // Enanble the i2c motor driver to drive a 4-wire stepper. the i2c motor driver will //driver a 4-wire with 8 polarity . //Direction: stepper direction ; 1/0 //motor speed: defines the time interval the i2C motor driver change it output to drive the stepper //the actul interval time is : motorspeed * 4ms. that is , when motor speed is 10, the interval time //would be 40 ms ////////////////////////////////////////////////////////////////////////////////// void StepperMotorEnable(unsigned char Direction, unsigned char motorspeed) { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(EnableStepper); // set pwm header Wire.write(Direction); // send pwma Wire.write(motorspeed); // send pwmb Wire.endTransmission(); // stop transmitting } //function to uneanble i2C motor drive to drive the stepper. void StepperMotorUnenable() { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(UnenableStepper); // set unenable commmand Wire.write(Nothing); Wire.write(Nothing); Wire.endTransmission(); // stop transmitting } ////////////////////////////////////////////////////////////////////// //Function to set the 2 DC motor speed //motorSpeedA : the DC motor A speed; should be 0~100; //motorSpeedB: the DC motor B speed; should be 0~100; void MotorSpeedSetAB(unsigned char MotorSpeedA , unsigned char MotorSpeedB) { MotorSpeedA=map(MotorSpeedA,0,100,0,255); MotorSpeedB=map(MotorSpeedB,0,100,0,255); Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(MotorSpeedSet); // set pwm header Wire.write(MotorSpeedA); // send pwma Wire.write(MotorSpeedB); // send pwmb Wire.endTransmission(); // stop transmitting } //set the prescale frequency of PWM, 0x03 default; void MotorPWMFrequenceSet(unsigned char Frequence) { Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(PWMFrequenceSet); // set frequence header Wire.write(Frequence); // send frequence Wire.write(Nothing); // need to send this byte as the third byte(no meaning) Wire.endTransmission(); // stop transmitting } //set the direction of DC motor. void MotorDirectionSet(unsigned char Direction) { // Adjust the direction of the motors 0b0000 I4 I3 I2 I1 Wire.beginTransmission(I2CMotorDriverAdd); // transmit to device I2CMotorDriverAdd Wire.write(DirectionSet); // Direction control header Wire.write(Direction); // send direction control information Wire.write(Nothing); // need to send this byte as the third byte(no meaning) Wire.endTransmission(); // stop transmitting } void MotorDriectionAndSpeedSet(unsigned char Direction,unsigned char MotorSpeedA,unsigned char MotorSpeedB) { //you can adjust the driection and speed together MotorDirectionSet(Direction); MotorSpeedSetAB(MotorSpeedA,MotorSpeedB); } void setup() { Wire.begin(); // join i2c bus (address optional for master) delayMicroseconds(10000); Serial.begin(9600); Serial.println("setup begin"); } void loop() { Serial.println("sent DC speed 100"); MotorSpeedSetAB(100,100);//defines the speed of motor 1 and motor 2; delay(10); //this delay needed MotorDirectionSet(0b1010); //"0b1010" defines the output polarity, "10" means the M+ is "positive" while the M- is "negtive" // make sure M+ and M- is different polatity when driving DC motors. delay(10000); MotorDirectionSet(0b0101); //0b0101 Rotating in the opposite direction delay(10000); }
