{"id":1302,"date":"2017-08-06T00:28:43","date_gmt":"2017-08-05T16:28:43","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=1302"},"modified":"2022-07-05T23:34:09","modified_gmt":"2022-07-05T15:34:09","slug":"%e5%b0%8f%e7%8c%aa%e5%ad%a6arduino-%e4%bd%bf%e7%94%a8l298n%e6%8e%a7%e5%88%b6%e4%b8%a4%e4%b8%aa%e7%9b%b4%e6%b5%81%e7%94%b5%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=1302","title":{"rendered":"\u5c0f\u732a\u5b66arduino\u2014\u4f7f\u7528L298\u9a71\u52a8\u7248\u63a7\u5236\u4e24\u4e2a\u76f4\u6d41\u7535\u673a"},"content":{"rendered":"<h2>\u4e00\u3001\u7b80\u4ecb<\/h2>\n<p>L298N\u9a71\u52a8\u6a21\u5757\uff0c\u53ef\u4ee5\u9a71\u52a82\u4e2a\u76f4\u6d41\u7535\u673a\uff0c\u53ef\u5206\u522b\u5b9e\u73b0\u6b63\u8f6c\uff0c\u53cd\u8f6c\u529f\u80fd\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/?attachment_id=1303\" rel=\"attachment wp-att-1303\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-1303\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509173331347.jpg\" alt=\"\" width=\"750\" height=\"750\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509173331347.jpg 750w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509173331347-150x150.jpg 150w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509173331347-300x300.jpg 300w\" sizes=\"(max-width: 750px) 100vw, 750px\" \/><\/a><\/p>\n<h2>\u4e8c\u3001\u51c6\u5907\u6750\u6599<\/h2>\n<p>Arduino Uno \u00a0 \u00a0 \u00a0 * 1<br \/>\nL298N\u9a71\u52a8\u6a21\u5757 \u00a0 * 1<br \/>\n\u76f4\u6d41\u7535\u673a \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 * 2<br \/>\n18650\u7535\u6c60 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0* 2<br \/>\n\u8df3\u7ebf \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u82e5\u5e72<\/p>\n<h2>\u4e09\u3001\u666e\u901a\u7535\u673a\u63a7\u5236<\/h2>\n<h3>1.\u8fde\u7ebf\u65b9\u6cd5<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/?attachment_id=1304\" rel=\"attachment wp-att-1304\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-1304\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509195006230.jpg\" alt=\"\" width=\"750\" height=\"750\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509195006230.jpg 750w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509195006230-150x150.jpg 150w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/20160509195006230-300x300.jpg 300w\" sizes=\"(max-width: 750px) 100vw, 750px\" \/><\/a><\/p>\n<p>\u6ce8\u610f\uff1a<span style=\"color: #ff0000;\">L298N\u5fc5\u987b\u5916\u63a56-12v\u7535\u538b\u53ca\u4e00\u5b9a\u7535\u6d41\u7684\u5916\u63a5\u7535\u6c60<\/span>\uff0c\u5728\u8fd9\u91cc\u88ab\u5751\u4e86\u597d\u4e45\uff0c\u7528\u666e\u901a\u76846v\uff0b\u7535\u6c60\u5916\u63a5\u65f6\uff0c\u4e0d\u662f\u53ea\u8f6c\u4e00\u4e2a\u8f6e\u5b50\u5c31\u662f\u5728\u62d4\u6389\u7535\u8111\u6570\u636e\u7ebf\u540e\u5b8c\u5168\u4e0d\u8f6c\u4e86\uff0c\u6700\u540e\u628a<span style=\"color: #ff0000;\"><span style=\"color: #000000;\">\u5916\u63a5\u7535\u6e90\u6362\u6210<\/span>\u4e24\u828218650\u7535\u6c60\u540e\u89e3\u51b3<\/span>\u3002<\/p>\n<h3>2.\u7a0b\u5e8f\u4ee3\u7801<\/h3>\n<p>\u9009\u7528IO\u53e3\u4e3a5,6,9,10,\u8fd9\u56db\u4e2a\u5747\u652f\u6301PWM,\u53ef\u4ee5\u901a\u8fc7\u5360\u7a7a\u6bd4\u4ee3\u7801\u5b9e\u73b0\u63a7\u5236\u8f6c\u52a8\u901f\u5ea6\u7684\u5feb\u6162<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">int input1 = 5; \/\/ \u5b9a\u4e49uno\u7684pin 5 \u5411 input1 \u8f93\u51fa\r\nint input2 = 6; \/\/ \u5b9a\u4e49uno\u7684pin 6 \u5411 input2 \u8f93\u51fa\r\nint input3 = 9; \/\/ \u5b9a\u4e49uno\u7684pin 9 \u5411 input3 \u8f93\u51fa\r\nint input4 = 10; \/\/ \u5b9a\u4e49uno\u7684pin 10 \u5411 input4 \u8f93\u51fa\r\nint speed = 135; \/\/\u901f\u5ea6\r\nvoid setup() {\r\n  \/\/Serial.begin (9600);\r\n  \/\/\u521d\u59cb\u5316\u5404IO,\u6a21\u5f0f\u4e3aOUTPUT \u8f93\u51fa\u6a21\u5f0f\r\n  pinMode(input1,OUTPUT);\r\n  pinMode(input2,OUTPUT);\r\n  pinMode(input3,OUTPUT);\r\n  pinMode(input4,OUTPUT);\r\n}\r\n\r\nvoid loop() {\r\n  \/\/forward \u5411\u524d\u8f6c\r\n  digitalWrite(input1,HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n  \/\/analogWrite(input1, speed); \/\/pwm\u8c03\u901f\r\n  digitalWrite(input2,LOW);  \/\/\u7ed9\u4f4e\u7535\u5e73\r\n  digitalWrite(input3,HIGH); \/\/\u7ed9\u9ad8\u7535\u5e73\r\n  \/\/analogWrite(input3, speed); \/\/pwm\u8c03\u901f\r\n  digitalWrite(input4,LOW);  \/\/\u7ed9\u4f4e\u7535\u5e73\r\n  delay(1000);   \/\/\u5ef6\u65f61\u79d2\r\n  \r\n  \/\/stop \u505c\u6b62\r\n  digitalWrite(input1,LOW);\r\n  digitalWrite(input2,LOW);\r\n  digitalWrite(input3,LOW);\r\n  digitalWrite(input4,LOW);\r\n  delay(500);  \/\/\u5ef6\u65f60.5\u79d2\r\n  \r\n  \/\/back \u5411\u540e\u8f6c\r\n  digitalWrite(input1,LOW);\r\n  digitalWrite(input2,HIGH);\r\n  \/\/analogWrite(input2, speed);\r\n  digitalWrite(input3,LOW);\r\n  digitalWrite(input4,HIGH);\r\n  \/\/analogWrite(input4, speed);\r\n  delay(1000);\r\n}<\/code><\/pre>\n<p><span style=\"color: #ff0000;\">\u6ce8\u610f\uff1a\u6211\u5728\u7535\u6c60\u7684\u9009\u62e9\u4e0a\u56f0\u6270\u4e86\u597d\u4e45\uff0c\u8bd5\u4e861.5v\u5357\u5b5a\u4e32\u8054\u30019v\u65b9\u5757\u7535\u6c60\u3001\u5145\u7535\u5b9d\u3001\u624b\u673a\u9502\u7535\u6c60\uff0c\u6700\u540e\u53d1\u73b0\u4f7f\u7528\u4e24\u828218650\u7535\u6c60\u4e0d\u4f46\u7535\u538b\u548c\u7535\u6d41\u591f\u7528\uff0c\u800c\u4e14\u5145\u6ee1\u7535\u80fd\u7528\u597d\u4e45\uff0c\u4ee5\u540e\u641earduino\u7528\u8fd9\u79cd\u7535\u6c60\u5c31\u884c\u4e86\uff0c\u6240\u4ee5\u770b\u5230\u6b64\u6587\u7684\u4eba\u5c31\u4e0d\u8981\u518d\u5165\u5751\u4e86\u3002<\/span><\/p>\n<h2>\u4e09\u3001\u7f16\u7801\u7535\u673a\u7684\u63a7\u5236\u4e0e\u7f16\u7801\u5668\u6570\u636e\u8bfb\u53d6<\/h2>\n<p>\u673a\u5668\u4eba\u9700\u8981\u7cbe\u7ec6\u63a7\u5236\u65f6\uff0c\u4f1a\u9700\u8981\u7528\u5230\u5e26\u7f16\u7801\u5668\u7684\u51cf\u901f\u7535\u673a\uff0c\u8fd9\u7c7b\u7535\u673a\u4e0d\u53ea\u6709\u6b63\u8d1f\u67812\u6839\u7ebf\u3002\u4ee5\u4e0b\u56fe\u768425GA-370\u7535\u673a\u4e3a\u4f8b\uff0c\u5b83\u67096\u6839\u7ebf\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/6line.jpg\"><img loading=\"lazy\" class=\"alignnone wp-image-5584\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/6line.jpg\" alt=\"\" width=\"439\" height=\"353\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/6line.jpg 580w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/6line-300x241.jpg 300w\" sizes=\"(max-width: 439px) 100vw, 439px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line.png\"><img loading=\"lazy\" class=\"alignnone wp-image-5574\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line-1024x445.png\" alt=\"\" width=\"434\" height=\"189\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line-1024x445.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line-300x130.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line-768x334.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line-624x271.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-line.png 1380w\" sizes=\"(max-width: 434px) 100vw, 434px\" \/><\/a><\/p>\n<p>\u5176\u4e2d\u7535\u673a\u7535\u6e90+-\u5bf9\u8c03\u53ef\u4ee5\u63a7\u5236\u6b63\u53cd\u8f6c\uff1b\u7f16\u7801\u5668\u7535\u6e90\u63a5arduino 5V\u7535\u6e90\u4f9b\u7535\uff1b\u7f16\u7801\u5668A\/B\u76f8\u8fde\u63a5\u5230arduino ENC PIN\u53e3\u7528\u4e8e\u7f16\u7801\u5668\u6570\u636e\u8bfb\u53d6\u3002<\/p>\n<h3>1.\u8fde\u63a5\u65b9\u6cd5<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-l298-arduino-link.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5586\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-l298-arduino-link.png\" alt=\"\" width=\"782\" height=\"672\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-l298-arduino-link.png 782w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-l298-arduino-link-300x258.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-l298-arduino-link-768x660.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/ga25-370-l298-arduino-link-624x536.png 624w\" sizes=\"(max-width: 782px) 100vw, 782px\" \/><\/a><\/p>\n<ul>\n<li>\u7535\u673a\u7535\u6e90+\u6b63-\u8d1f\u6781\uff08\u7ea2+\/\u767d-\u7ebf\uff09\uff1a\u63a5L298 output 1\/2\u62163\/4\u53e3\uff08\u4f9b\u7535+\u9a71\u52a8\u677f\u63a7\u5236\uff09<\/li>\n<li>L298 input\uff08\u63a7\u5236\u53e3\uff09\uff1a\u63a5arduino D7\/D8\u53e3\uff08\u7528\u4e8e\u7535\u673a\u8fd0\u52a8\u63a7\u5236\uff09<\/li>\n<li>\u7535\u673a\u7f16\u7801\u5668\u7535\u6e90+\u6b63-\u8d1f\u6781\uff08\u84dd+\/\u9ed1-\u7ebf\uff09\uff1a\u63a5arduino VIN+GND\u53e3\uff08\u4f9b\u7535\uff09<\/li>\n<li>\u7535\u673a\u7f16\u7801\u5668\u4fe1\u53f7\uff08\u7effA\/\u9ec4B\u7ebf\uff09\uff1a\u63a5arduino D3\/D4\u53e3\uff08\u7528\u4e8e\u7535\u673a\u7f16\u7801\u5668\u4fe1\u606f\u8bfb\u53d6\uff09<\/li>\n<\/ul>\n<h3>2.\u7a0b\u5e8f\u4ee3\u7801<code class=\"\"><\/code><\/h3>\n<p>\u8bf4\u660e\u6587\u6863\u548c\u4ee3\u7801\u653e\u5230<a href=\"https:\/\/github.com\/yanjingang\/ros_arduino_bridge\" target=\"_blank\" rel=\"noopener noreferrer\">https:\/\/github.com\/yanjingang\/ros_arduino_bridge<\/a>\u4e86\uff0c\u76f4\u63a5\u79fb\u6b65git\u7ee7\u7eed\u5373\u53ef\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># pc\/pi\u5b89\u88c5 ros_arduino_bridge \u5e93\r\ncd ~\/catkin_ws\/src\r\ngit clone git@github.com:yanjingang\/ros_arduino_bridge.git\r\ncd ~\/catkin_ws\r\ncatkin_make\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\n\r\n#arduino \r\n#\u70e7\u5236OSArduinoBridge.ino\u5230\u677f\u5b50\u4e0a\r\n\r\n# pc\/pi\u542f\u52a8\u6d4b\u8bd5\r\nroslaunch ros_arduino_python arduino.launch\r\n\r\n# \u5c1d\u8bd5\u53d1\u5e03 Twist \u547d\u4ee4\uff1a\r\nrostopic pub \/cmd_vel geometry_msgs\/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'\r\nrostopic pub -1 \/cmd_vel geometry_msgs\/Twist '{ angular: {z: 1} }'\r\n\r\n# \u67e5\u770b\u91cc\u7a0b\u8ba1\u6570\u636e\uff1a\r\nrostopic echo \/odom\r\n\r\n# \u5982\u679c\u53d1\u5e03Twist\u540e\u91cc\u7a0b\u8ba1\u6570\u4e3a0\u6216\/odom\u5750\u6807\u4e0d\u53d8\uff0c\u68c0\u67e5\u4e0b\u7f16\u7801\u5668\u7684\u7535\u6e90\u548c\u4fe1\u53f7\u63a5\u7ebf\u662f\u5426\u6b63\u786e\r\nget_encoder_counts: [0, 0]<\/code><\/pre>\n<h2>\u4e09\u3001L298P\u4e0eL298N\u7684\u533a\u522b<\/h2>\n<h3>1.\u8fde\u7ebf\u65b9\u6cd5<\/h3>\n<p>L298P\u4e0eL298N\u7684\u539f\u7406\u57fa\u672c\u7c7b\u4f3c\uff0c\u4ec5\u5728PCB\u5c01\u88c5\u65b9\u5f0f\u4e0a\u6bd4\u8f83\u65b9\u4fbf\u4e0earduino\u7ed3\u5408\u63d2\u62d4\uff08\u4e00\u4e9b\u7279\u6b8a\u7684\u5c01\u88c5\u677f\u5b50\u4e5f\u6269\u5c55\u4e86\u8235\u673a\u548c\u84dd\u7259\u7b49\u63a5\u53e3\uff09\uff0c\u5b83\u7684\u8fde\u7ebf\u7279\u522b\u70b9\u5728\u4e8e\u9ed8\u8ba4\u5360\u7528\u4e86D10-13\u903b\u8f91\u63a7\u5236\u8f93\u5165\u7aef\u53e3\uff0c\u5bf9\u5e94L298N\u76844\u4e2alogic input\u7aef\u53e3\uff08\u9700\u8981\u6ce8\u610f\u4ec5D10\/11\u5f15\u811a\u652f\u6301PWM\uff0c\u4e0d\u80fd\u50cfL298N\u90a3\u6837\u8fde4\u4e2aPWM\u5f15\u811a\uff09\u3002<\/p>\n<p>L298P\u63d2\u5230arduino\u540e\u8fd94\u4e2ainput\u7aef\u53e3\u5df2\u7ecf\u9ed8\u8ba4\u8fde\u597d\uff0c\u4e0d\u9700\u8981\u518d\u8fdb\u884cl298\u5230arduino\u7684logic input\u8fde\u7ebf\uff0c\u53ea\u9700\u8981\u5728\u5927\u9a6c\u529b\u7535\u673a\u65f6\u5355\u72ec\u7ed9l298p\u63a5&gt;6V\u7684\u7535\u6e90\u4f9b\u7535\u5373\u53ef\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5692\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1024x889.jpg\" alt=\"\" width=\"625\" height=\"543\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1024x889.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-300x260.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-768x667.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-624x542.jpg 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port.jpg 1636w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h3>2.\u7a0b\u5e8f\u4ee3\u7801<\/h3>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/\/ L298P + jga25-370 \u53cc\u7535\u673a\u63a7\u5236\r\n\r\n\/\/ l298p\u56fa\u5b9a\u7aef\u53e3\r\nint Ea = 10;  \/\/ A motor PWM\u8c03\u901f(\u63a7\u5236\u8f6c\u901f)\r\nint Eb = 11;  \/\/ B motor PWM\u8c03\u901f(\u63a7\u5236\u8f6c\u901f)\r\nint Ma = 12;  \/\/ A motor \u4f7f\u80fd(\u63a7\u5236\u8f6c\u52a8\u65b9\u5411)\r\nint Mb = 13;  \/\/ B motor \u4f7f\u80fd(\u63a7\u5236\u8f6c\u52a8\u65b9\u5411)\r\n\r\nvoid setup() {\r\n    pinMode(Ma, OUTPUT);\r\n    pinMode(Mb, OUTPUT);\r\n\r\n    Serial.begin(57600);\r\n}\r\nvoid loop() {\r\n    \/\/ \u57fa\u672c\u6d4b\u8bd5\r\n    \/\/ Test();\r\n\r\n    \/\/ \u79fb\u52a8\u6d4b\u8bd5\r\n    int speed = 100;\r\n    \/\/ \u524d\u8fdb\r\n    Forward(speed);\r\n    delay(2000);\r\n    \/\/ \u540e\u9000\r\n    Backward(speed);\r\n    delay(2000);\r\n    \/\/ \u5de6\u8f6c\r\n    TurnLeft(speed);\r\n    delay(2000);\r\n    \/\/ \u53f3\u8f6c\r\n    TurnRight(speed);\r\n    delay(2000);\r\n    \/\/ \u505c\u6b62\r\n    Stop();\r\n    delay(3000);\r\n}\r\n\r\n\/\/ \u7535\u673a\u7684\u6b63\u53cd\u8c03\u901f\u6d4b\u8bd5\r\nvoid Test() {\r\n    \/\/ \u4e24\u8def\u7535\u673a\u6b63\u8f6c\r\n    {\r\n        Serial.println(\"Forward...\");\r\n        int value;\r\n        for (value = 0; value &lt;= 255; value += 5) {\r\n            Serial.println(value);\r\n\r\n            digitalWrite(Ma, HIGH);\r\n            digitalWrite(Mb, HIGH);\r\n            analogWrite(Ea, value);  \/\/ PWM \u8c03\u901f\r\n            analogWrite(Eb, value);  \/\/ PWM \u8c03\u901f\r\n            delay(50);\r\n        }\r\n        delay(1000);\r\n    }\r\n    \/\/ \u4e24\u8def\u7535\u673a\u53cd\u8f6c\r\n    {\r\n        Serial.println(\"Backward...\");\r\n        int value;\r\n        for (value = 0; value &lt;= 255; value += 5) {\r\n            Serial.println(value);\r\n\r\n            digitalWrite(Ma, LOW);\r\n            digitalWrite(Mb, LOW);\r\n            analogWrite(Ea, value);  \/\/ PWM \u8c03\u901f\r\n            analogWrite(Eb, value);  \/\/ PWM \u8c03\u901f\r\n            delay(50);\r\n        }\r\n        delay(1000);\r\n    }\r\n}\r\n\r\n\/\/ \u79fb\u52a8\u65b9\u6cd5\r\n\/\/ \u524d\u8fdb\r\nvoid Forward(int speed) {\r\n    Serial.println(\"Forward!\");\r\n\r\n    digitalWrite(Ma, HIGH);  \/\/ \u6b63\u8f6c\r\n    digitalWrite(Mb, LOW);   \/\/ \u53cd\u8f6c\r\n    analogWrite(Ea, speed);  \/\/ PWM \u8c03\u901f\r\n    analogWrite(Eb, speed);  \/\/ PWM \u8c03\u901f\r\n}\r\n\/\/ \u540e\u9000\r\nvoid Backward(int speed) {\r\n    Serial.println(\"Backward!\");\r\n\r\n    digitalWrite(Ma, LOW);   \/\/ \u53cd\u8f6c\r\n    digitalWrite(Mb, HIGH);  \/\/ \u6b63\u8f6c\r\n    analogWrite(Ea, speed);  \/\/ PWM \u8c03\u901f\r\n    analogWrite(Eb, speed);  \/\/ PWM \u8c03\u901f\r\n}\r\n\/\/ \u505c\u6b62\r\nvoid Stop() {\r\n    Serial.println(\"Stop!\");\r\n\r\n    digitalWrite(Ma, LOW);\r\n    digitalWrite(Mb, LOW);\r\n    digitalWrite(Ea, LOW);\r\n    digitalWrite(Eb, LOW);\r\n}\r\n\/\/ \u5de6\u8f6c\r\nvoid TurnLeft(int speed) {\r\n    Serial.println(\"TurnLeft!\");\r\n\r\n    digitalWrite(Ma, LOW);   \/\/ \u53cd\u8f6c\r\n    digitalWrite(Mb, LOW);   \/\/ \u53cd\u8f6c\r\n    analogWrite(Ea, speed);  \/\/ PWM \u8c03\u901f\r\n    analogWrite(Eb, speed);  \/\/ PWM \u8c03\u901f\r\n}\r\n\/\/ \u53f3\u8f6c\r\nvoid TurnRight(int speed) {\r\n    Serial.println(\"TurnRight!\");\r\n\r\n    digitalWrite(Ma, HIGH);  \/\/ \u6b63\u8f6c\r\n    digitalWrite(Mb, HIGH);  \/\/ \u6b63\u8f6c\r\n    analogWrite(Ea, speed);  \/\/ PWM \u8c03\u901f\r\n    analogWrite(Eb, speed);  \/\/ PWM \u8c03\u901f\r\n}<\/code><\/pre>\n<h3>3.\u5176\u4ed6\u7aef\u53e3\u8bf4\u660e<\/h3>\n<p>\u5f88\u597d\u5947l298p\u5176\u4ed6\u7aef\u53e3\u90fd\u662f\u5e72\u5565\u7684\uff0c\u5728\u7f51\u4e0a\u627e\u5230\u4e00\u4e2a\u5907\u6ce8\u7684\u6bd4\u8f83\u8be6\u7ec6\u8bf4\u660e\u653e\u8fd9\u91cc<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6210\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1-1024x768.jpg\" alt=\"\" width=\"625\" height=\"469\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1-1024x768.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1-300x225.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1-768x576.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1-624x468.jpg 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2017\/08\/l298p-port-1.jpg 1440w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>yan <span class=\"hljs-number\">17.8<\/span><span class=\"hljs-number\">.6<\/span> <span class=\"hljs-number\">0<\/span>:2<span class=\"hljs-number\">8<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #333333;\">\u53c2\u8003\uff1a<\/span><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/ling3ye\/article\/details\/51351115\" target=\"_blank\" rel=\"noopener noreferrer\">\u4f7f\u7528Arduino\u4e0eL298N(\u7ea2\u677f) \u9a71\u52a8\u76f4\u6d41\u7535\u673a<\/a><\/p>\n<p><a href=\"https:\/\/www.bbird.club\/blog\/post\/2465\" target=\"_blank\" rel=\"noopener noreferrer\">ROS\u673a\u5668\u4ebaDiego 1#\u5236\u4f5c\uff08\u4e09\uff09Base Controller&#8212;Ros_arduino_bridge<\/a><\/p>\n<p><a href=\"https:\/\/www.bilibili.com\/read\/cv9559940\" target=\"_blank\" rel=\"noopener noreferrer\">L298N \u7535\u673a\u9a71\u52a8\u677f &#8211; \u8be6\u7ec6\u4ecb\u7ecd<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u7b80\u4ecb L298N\u9a71\u52a8\u6a21\u5757\uff0c\u53ef\u4ee5\u9a71\u52a82\u4e2a\u76f4\u6d41\u7535\u673a\uff0c\u53ef\u5206\u522b\u5b9e\u73b0\u6b63\u8f6c\uff0c\u53cd\u8f6c\u529f\u80fd\u3002 \u4e8c\u3001\u51c6\u5907\u6750\u6599 Arduino  [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[353],"tags":[486,354,488,487,485,428],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/1302"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1302"}],"version-history":[{"count":1,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/1302\/revisions"}],"predecessor-version":[{"id":6551,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/1302\/revisions\/6551"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1302"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1302"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1302"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}