![\"\"](\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/04\/explosion-proof-robot1.jpeg\")
<\/a><\/p>\n\u4e00\u3001\u6982\u8ff0<\/h1>\n
\u8fd9\u6b3e\u9a71\u52a8\u7248\u662f\u5947\u679c\u6d3e\u51fa\u54c1\u7684Arduino MotorShiled V5.5\uff0c\u80fd\u540c\u65f6\u9a71\u52a84\u4e2a\u652f\u6d41\u7535\u673a\u62162\u4e2a\u6b65\u8fdb\u7535\u673a\u30018\u8def\u5168\u901fPWM\u4f3a\u5019\u63a7\u5236\u3001PS2\u65e0\u7ebf\u624b\u67c4\u3001\u84dd\u7259\u3001\u8d85\u58f0\u6ce2\uff0c\u6700\u5927\u7684\u4f18\u70b9\u662f\uff0c\u5b83\u5360\u7528\u4e86\u5f88\u5c11\u7684\u5f15\u811a\uff0c\u4f7f\u7528I2C\u901a\u4fe1\u7684PCA9685 PWM\u9a71\u52a8\u82af\u7247\u63a7\u5236\u7535\u673a\u901f\u5ea6\u548c\u65b9\u5411\uff0c\u53ea\u75282\u6839IO\u5f15\u811a(SDA&SCL)\u5c31\u53ef\u4ee5\u9a71\u52a8\u591a\u4e2a\u7535\u673a\uff0c\u591a\u4e2a\u9a71\u52a8\u677f\u8fd8\u53ef\u4ee5\u7ea7\u8054\u4f7f\u7528\uff0c\u770b\u8d77\u6765\u76f8\u5f53\u4e0d\u9519\u3002<\/p>\n
\u63a5\u53e3\u8bf4\u660e\u53ca\u7aef\u53e3\u5360\u7528\u60c5\u51b5\uff1a<\/p>\n \u53c2\u6570\u8bf4\u660e\uff1a<\/p>\n \u5f53\u9700\u8981\u63a5\u5165\u591a\u4e2a\u8235\u673a\u6216\u5927\u529f\u7387\u8235\u673a\u7684\u65f6\u5019\uff0c\u8bf7\u9009\u62e9\u6b64\u65b9\u6848\u4f9b\u7535<\/p>\n <\/p>\n \u9a71\u52a8\u677f\u7684\u8235\u673a\u63a7\u5236\u901a\u8fc7PWM\u4e13\u7528\u82af\u7247PCA9685\u5b9e\u73b0\uff0c\u5bf9\u5e94\u7684\u7f16\u53f7\u5206\u522b\u4e3a0-7\u63a5\u53e3\u3002\u9a71\u52a8\u5668\u5185\u5d4c\u7a33\u538b\u7535\u8def\uff0c\u53ef\u4ee5\u8f93\u51fa5V\uff0c3A\u7684\u7535\u6d41\u7ed9\u8235\u673a\u4f9b\u7535\u3002\u5c3d\u91cf\u907f\u514d\u8235\u673a\u5835\u8f6c\u6216\u8d85\u8d1f\u8377\uff0c\u4ee5\u514d\u5f71\u54cd\u7cfb\u7edf\u7a33\u5b9a\u6027\u6216\u635f\u574f\u8235\u673a\u3002<\/p>\n \u8235\u673a\u63a5\u7ebf\uff1a<\/p>\n \u6ce8\u610f\uff1a\u5bf9\u4e8e\u5927\u529f\u7387\u7684\u8235\u673a\uff08\u7535\u6e90\u8981\u6c42\u8d85\u8fc75V3A\uff09\uff0c\u8bf7\u62d4\u6389\u7ea2\u8272\u8df3\u7ebf\u5e3d\uff0c\u518d\u4f7f\u7528\u8ddf\u8235\u673a\u5339\u914d\u7684\u7535\u6e90\u901a\u8fc7\u201c\u8235\u673a\u8f85\u52a9\u7535\u6e90\u201d\u63a5\u53e3\u72ec\u7acb\u4f9b\u7535\u3002\u5b9e\u6d4b\u6765\u770b\uff0c\u57fa\u672c>2\u4e2aMG995\u91d1\u5c5e\u8235\u673a\u5c31\u9700\u8981\u72ec\u7acb\u4f9b\u7535\u4e86\u3002<\/p>\n \u4ee3\u7801\u793a\u4f8b\uff1a<\/p>\n \u7535\u673a\u63a5\u7ebf\uff1a<\/p>\n \u7535\u673a\u7f16\u7801\u5668\u63a5\u7ebf\uff1a<\/p>\n \u4ee3\u7801\u793a\u4f8b\uff1a<\/p>\n *\u6ce8\uff1a\u5982\u679c\u8981\u4f7f\u7528PID\uff0c\u63a5\u7ebf\u548cPID\u53c2\u6570\u4f1a\u6709\u6240\u4e0d\u540c\uff0c\u9700\u8981\u6bcf\u4e2a\u8f6e\u5b50\u5355\u72ec\u8c03\u8bd5\u8f6c\u52a8\u65b9\u5411\u548cpid\u53c2\u6570\u3002<\/p>\n PID\u8c03\u8bd5\u65b9\u6cd5\u8be6\u89c1https:\/\/yanjingang.com\/blog\/?p=5604\u3002<\/p>\n \u9a71\u52a8\u5668\u5185\u7f6ePS2\u63a5\u6536\u5668\u63d2\u5ea7\uff0c\u5c06\u63a5\u6536\u5668\u76f4\u63a5\u63d2\u5165\u4f7f\u7528\u3002<\/p>\n<\/a><\/p>\n<\/a><\/p>\n\n
\u4e8c\u3001\u4f9b\u7535\u65b9\u6848<\/h1>\n
1.\u5355\u7535\u6e90\u4f9b\u7535<\/h3>\n
\n
<\/a><\/p>\n2.\u8235\u673a\u72ec\u7acb\u4f9b\u7535<\/h3>\n
\n
<\/a><\/p>\n\u4e09\u3001\u529f\u80fd\u9a8c\u8bc1<\/h1>\n
1\u3001\u8235\u673a\u63a7\u5236\uff08Servo\uff09<\/h3>\n
<\/a><\/p>\n\r\n#include <Wire.h>\r\n#include \"QGPMaker_MotorShield.h\"\r\n\r\n\/\/ Create the motor shield object with the default I2C address\r\nQGPMaker_MotorShield AFMS = QGPMaker_MotorShield();\r\n\r\nconst int SERVOS = 4; \/\/\u5b9a\u4e49\u53d8\u91cfSERVOS,\u8868\u793a\u8235\u673a\u6570\uff0c\u9884\u5148\u8d4b\u503c4\r\nint INITANGLE[SERVOS]; \/\/\u5b9a\u4e49\u53d8\u91cf\u6570\u7ec4INITANGLE[SERVOS]\uff0c\u7528\u4e8e\u5b58\u653e\u5f53\u524d\u8235\u673a\u7684\u521d\u59cb\u89d2\u5ea6\u503c\r\n\r\n\/\/ \u8bbe\u7f6e\u8235\u673a\u9891\u7387\r\nvoid setServoPulse( uint8_t n, double pulse ) \/\/n:\u8235\u673a\u53f7\uff1b pulse\uff1a\u8109\u51b2\u65f6\u95f4\r\n{\r\n double pulselength;\r\n pulselength = 1000000; \/\/ \u767e\u4e07\u5206\u4e4b\u4e00\u79d2\r\n pulselength \/= 50; \/\/50 Hz\r\n pulselength \/= 4096; \/\/(12\u4f4d\u5206\u8fa8\u7387)\r\n pulse *= 1000; \/\/\u4e58\u4ee51000\r\n pulse \/= pulselength; \/\/\u9664\u4ee5pulselength\u53d8\u91cf\r\n AFMS.setPWM( n, pulse ); \/\/\u8bbe\u7f6ePWM\u503c\r\n}\r\n\r\n\/\/ PWM\u503c\u8f6c\u5316\u4e3a\u89d2\u5ea6\r\nvoid writeServo( uint8_t n, uint8_t angle ) \/\/n:\u8235\u673a\u53f7\uff1b angle\uff1a\u8235\u673a\u9700\u8981\u8f6c\u5230\u7684\u89d2\u5ea6\r\n{\r\n double pulse;\r\n angle = (int)angle*0.922222; \/\/\u6839\u636e\u8235\u673a\u6279\u6b21\u7684\u4e0d\u540c\uff0c\u6b64\u6279\u8235\u673a\u5b9e\u9645\u8f6c\u89d2\u4e0e\u7406\u8bba\u8f93\u5165\u503c\u5b58\u57280.922222\u7684\u7cfb\u6570\u5173\u7cfb\u3002\u5982\u679c\u8235\u673a\u5b9e\u9645\u8f6c\u89d2\u4e0e\u7406\u8bba\u8f93\u5165\u503c\u4e00\u6837\uff0c\u5219\u53ef\u5220\u9664\u6b64\u8bed\u53e5\r\n pulse = 0.5 + angle \/ 90.0; \/\/\u8109\u51b2\u65f6\u95f4\u548c\u89d2\u5ea6\u503c\u7684\u5173\u7cfb\u516c\u5f0f\r\n setServoPulse( n, pulse ); \/\/\u8ba9\u6307\u5b9a\u7684\u8235\u673a\u901a\u8fc7\u76f8\u5bf9\u5e94\u7684\u8109\u51b2\u65f6\u95f4\u8f6c\u5230\u6307\u5b9a\u7684\u89d2\u5ea6\r\n}\r\n\r\n\r\n\r\n\/\/\u521d\u59cb\u5316\u8235\u673a\u53c2\u6570\r\nvoid initServos(){ \r\n INITANGLE[0] = 75; \/\/\u53f3\u811a\u8235\u673a\u539f\u70b9\u89d2\u5ea6\r\n INITANGLE[1] = 75; \/\/\u5de6\u811a\u8235\u673a\u539f\u70b9\u89d2\u5ea6\r\n INITANGLE[2] = 90; \/\/\u53f3\u817f\u8235\u673a\u539f\u70b9\u89d2\u5ea6\r\n INITANGLE[3] = 90; \/\/\u5de6\u817f\u8235\u673a\u539f\u70b9\u89d2\u5ea6\r\n}\r\n\r\n\r\nvoid setup() {\r\n Serial.begin(9600); \/\/ set up Serial library at 9600 bps\r\n Serial.println(\"Servo PWM test!\");\r\n\r\n \/\/ \u521d\u59cb\u5316\u53c2\u6570\r\n initServos();\r\n\r\n \/\/ \u542f\u52a8\u9a71\u52a8\u677f\r\n AFMS.begin( 50 );\r\n \r\n \/\/ \u521d\u59cb\u5316\u8235\u673a\u89d2\u5ea6\r\n for ( int i = 0; i < SERVOS; i ++ ){ \/\/For\u5faa\u73af\u521d\u59cb\u5316\u8d4b\u503c\u8bbe\u5b9a\u89d2\u5ea6\uff08\u5f00\u59cb\u5c068\u4e2a\u8235\u673a\u56de\u539f\u70b9\uff09\r\n \/\/ \u65cb\u8f6c\u5230\u6307\u5b9a\u89d2\u5ea6\r\n writeServo(i, INITANGLE[i]);\r\n }\r\n}\r\n\r\n\r\nvoid loop() {\r\n \/\/ \u62ac\u5de6\u817f\r\n for ( int i = 0; i < 130 - INITANGLE[0] ; i++ ){ \/\/For\u5faa\u73af\u521d\u59cb\u5316\u8d4b\u503c\u8bbe\u5b9a\u89d2\u5ea6\uff08\u5f00\u59cb\u5c068\u4e2a\u8235\u673a\u56de\u539f\u70b9\uff09\r\n writeServo( 0, INITANGLE[0]+i );\/\/\u53f3\u811a\r\n writeServo( 1, INITANGLE[1]+i );\/\/\u5de6\u811a\r\n delay(100);\r\n }\r\n \/\/writeServo( 0, 120 );\/\/\u53f3\u811a\r\n \/\/writeServo( 1, 120 );\/\/\u5de6\u811a\r\n delay(2000);\r\n \/\/ \u5de6\u817f\u524d\u79fb\r\n writeServo( 2, 70 );\/\/\u53f3\u817f\r\n writeServo( 3, 70 );\/\/\u5de6\u817f\r\n delay(2000);\r\n \/\/ \u843d\u5de6\u817f\r\n writeServo( 0, 75 );\/\/\u53f3\u811a\r\n writeServo( 1, 75 );\/\/\u5de6\u811a\r\n delay(2000);\r\n \r\n \/\/ \u62ac\u53f3\u817f\r\n \/\/writeServo( 0, 30 );\r\n \/\/writeServo( 1, 30 );\r\n for ( int i = 0; i < INITANGLE[0] - 30 ; i++ ){ \/\/For\u5faa\u73af\u521d\u59cb\u5316\u8d4b\u503c\u8bbe\u5b9a\u89d2\u5ea6\uff08\u5f00\u59cb\u5c068\u4e2a\u8235\u673a\u56de\u539f\u70b9\uff09\r\n writeServo( 0, INITANGLE[0]-i );\/\/\u53f3\u811a\r\n writeServo( 1, INITANGLE[1]-i );\/\/\u5de6\u811a\r\n delay(100);\r\n }\r\n delay(2000);\r\n \/\/ \u53f3\u817f\u524d\u79fb\r\n writeServo( 2, 110 );\r\n writeServo( 3, 110 );\r\n delay(2000);\r\n \/\/ \u843d\u5de6\u817f\r\n writeServo( 0, 75 );\/\/\u53f3\u811a\r\n writeServo( 1, 75 );\/\/\u5de6\u811a\r\n delay(3000);\r\n}<\/code><\/pre>\n2\u3001\u76f4\u6d41\u7f16\u7801\u7535\u673a\u63a7\u5236\uff08DC Motor\uff09<\/h3>\n
<\/a><\/p>\n<\/a><\/p>\n#include <Wire.h>\r\n#include \"QGPMaker_MotorShield.h\"\r\n#include \"QGPMaker_Encoder.h\"\r\n\r\nQGPMaker_MotorShield AFMS = QGPMaker_MotorShield();\r\nQGPMaker_DCMotor *DCMotor_1 = AFMS.getMotor(1); \/\/ 1-4\u9a6c\u8fbe\r\nQGPMaker_DCMotor *DCMotor_2 = AFMS.getMotor(2);\r\nQGPMaker_Encoder Encoder1(1);\r\nQGPMaker_Encoder Encoder2(2);\r\n\r\nvoid setup(){\r\n AFMS.begin(50); \/\/ create with the default frequency 50Hz\r\n Serial.begin(9600);\r\n DCMotor_1->setSpeed(50); \/\/\u8bbe\u7f6e\u7535\u673a\u901f\u5ea6(0 stopped ~ 255 full speed)\r\n DCMotor_1->run(FORWARD); \/\/\u542f\u52a8\u7535\u673a(FORWARD \u6b63\u8f6c, BACKWARD \u53cd\u8f6c ,BRAKE \u5239\u8f66\u6025\u505c or RELEASE \u5173\u95ed\u7535\u673a\uff09\r\n DCMotor_2->setSpeed(50);\r\n DCMotor_2->run(FORWARD);\r\n}\r\n\r\nvoid loop(){\r\n\r\n Serial.print(Encoder1.read()); \/\/\u83b7\u53d6\u7f16\u7801\u5668\u6570\u503c\r\n Serial.print('-');\r\n Serial.print(Encoder2.read());\r\n Serial.print('-');\r\n Serial.println(Encoder1.getRPM());\/\/\u83b7\u53d6\u7f16\u7801\u5668\u7535\u673a\u5bf9\u5e94\u7684\u6bcf\u5206\u949f\u8f6c\u901f\uff08RPM\uff09\r\n delay(50);\r\n}<\/code><\/pre>\n<\/a><\/p>\n3\u3001\u65e0\u7ebf\u624b\u67c4\u63a7\u5236\uff08PS2\uff09<\/h3>\n