MSPM0L1306 控制 TB6612 驱动四个 JBGB37-520 编码器减速电机代码示例

#include <MSPM0L1306.h>

// \u5B9A\u4E49\u9A71\u52A8\u5F15\u811A #define AIN1 2 #define AIN2 3 #define BIN1 4 #define BIN2 5 #define STBY 6

// \u5B9A\u4E49\u7F16\u7801\u5668\u5F15\u811A #define ENC1A 7 #define ENC1B 8 #define ENC2A 9 #define ENC2B 10 #define ENC3A 11 #define ENC3B 12 #define ENC4A 13 #define ENC4B A0

// \u521D\u59CB\u5316\u9A71\u52A8\u5BF9\u8C61 MSPM0L1306 motorDriver(AIN1, AIN2, BIN1, BIN2, STBY);

// \u521D\u59CB\u5316\u7F16\u7801\u5668\u5BF9\u8C61 Encoder encoder1(ENC1A, ENC1B); Encoder encoder2(ENC2A, ENC2B); Encoder encoder3(ENC3A, ENC3B); Encoder encoder4(ENC4A, ENC4B);

// \u8BBE\u7F6E\u7535\u673A\u901F\u5EA6 void setMotorSpeed(int motorIndex, int speed) { if (speed >= 0) { motorDriver.setMotorSpeed(motorIndex, speed, FORWARD); } else { motorDriver.setMotorSpeed(motorIndex, -speed, BACKWARD); } }

// \u8BFB\u53D6\u7F16\u7801\u5668\u503C long readEncoderValue(int encoderIndex) { switch (encoderIndex) { case 1: return encoder1.read(); case 2: return encoder2.read(); case 3: return encoder3.read(); case 4: return encoder4.read(); default: return 0; } }

void setup() { // \u521D\u59CB\u5316\u4E32\u53E3\u901A\u4FE1 Serial.begin(9600);

// \u8BBE\u7F6E\u9A71\u52A8\u5F15\u811A\u4E3A\u8F93\u51FA\u6A21\u5F0F pinMode(AIN1, OUTPUT); pinMode(AIN2, OUTPUT); pinMode(BIN1, OUTPUT); pinMode(BIN2, OUTPUT); pinMode(STBY, OUTPUT);

// \u542F\u52A8\u9A71\u52A8\u5668 motorDriver.begin();

// \u8BBE\u7F6E\u7F16\u7801\u5668\u5F15\u811A\u4E3A\u8F93\u5165\u6A21\u5F0F pinMode(ENC1A, INPUT_PULLUP); pinMode(ENC1B, INPUT_PULLUP); pinMode(ENC2A, INPUT_PULLUP); pinMode(ENC2B, INPUT_PULLUP); pinMode(ENC3A, INPUT_PULLUP); pinMode(ENC3B, INPUT_PULLUP); pinMode(ENC4A, INPUT_PULLUP); pinMode(ENC4B, INPUT_PULLUP); }

void loop() { // \u8BFB\u53D6\u7F16\u7801\u5668\u503C long encoder1Value = readEncoderValue(1); long encoder2Value = readEncoderValue(2); long encoder3Value = readEncoderValue(3); long encoder4Value = readEncoderValue(4);

// \u8F93\u51FA\u7F16\u7801\u5668\u503C Serial.print("Encoder 1: "); Serial.println(encoder1Value); Serial.print("Encoder 2: "); Serial.println(encoder2Value); Serial.print("Encoder 3: "); Serial.println(encoder3Value); Serial.print("Encoder 4: "); Serial.println(encoder4Value);

// \u8BBE\u7F6E\u7535\u673A\u901F\u5EA6 setMotorSpeed(1, 100); // \u8BBE\u7F6E\u7535\u673A1\u901F\u5EA6\u4E3A\u6B63\u5411100 setMotorSpeed(2, -50); // \u8BBE\u7F6E\u7535\u673A2\u901F\u5EA6\u4E3A\u53CD\u541150 setMotorSpeed(3, 0); // \u505C\u6B62\u7535\u673A3 setMotorSpeed(4, 75); // \u8BBE\u7F6E\u7535\u673A4\u901F\u5EA6\u4E3A\u6B63\u541175

delay(1000); // \u5延\u8fdf1\u79D2 }

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