“Microduino-Shield Robot/zh”的版本间的差异

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开发
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*驱动步进电机,参考:[[Microduino-Stepper/zh]]
 
*驱动步进电机,参考:[[Microduino-Stepper/zh]]
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示例程序:
 
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==应用==
 
==应用==
 
[[机器人平衡车]]
 
[[机器人平衡车]]

2014年11月20日 (四) 15:44的版本

Language English
Microduino-ROBOT板子作为机器人控制板, 将配合Microduino-Core+/zhMicroduino-Motor/zhMicroduino-Stepper/zh。同时板载传感器接口,用户可接入各种传感器来实现更多的功能。

特色

  • 两个电机驱动接口,可驱动两个步进电机,四个直流电机
  • 丰富的传感器接口,利于扩展
  • 5V、3.3V电源管理
  • Upin27底座,可结合更多的Microduino模块
  • 板子体积小,46.99mm*40.64mm

规格

  • 电气
    • 5V稳压:采用LM2674降压方案
    • 3.3V稳压:AMS1117降压方案
    • 因为采用降压方案,请确保电源电压5V~9V。
    • 电源开关
  • 电机驱动
    • M.A:D7,D5,D8,D6(适用于Core核心,PWM调速)
    • M.B:D19,D23,D18,D22(适用于Core+核心,PWN调速)
  • 板载9个传感器接口
  • 板载调试led灯,接到D4.
  • 板载复位按键

文档

开发

示例程序:

//=========M.A=============//
int mic_left_A = 7;
int mic_right_A = 5;
int mic_head_A = 8;
int mic_back_A = 6;
//=========M.B=============//
/*
int mic_left_B = 22;
 int mic_right_B =18;
 int mic_head_B = 23;
 int mic_back_B = 19;
 */
void setup() {
  pinMode(mic_left_A,OUTPUT);
  pinMode(mic_right_A,OUTPUT);
  pinMode(mic_head_A,OUTPUT);
  pinMode(mic_back_A,OUTPUT);
}

void loop() {
  head();
  delay(1500);
  back();
  delay(1500);
  left();
  delay(1500);
  right();
  delay(1500);
}

void head()
{
  digitalWrite(mic_left_A,LOW);
  digitalWrite(mic_right_A,HIGH);
  digitalWrite(mic_head_A,HIGH);
  digitalWrite(mic_back_A,LOW);
}

void left()
{
  digitalWrite(mic_left_A,HIGH);
  digitalWrite(mic_right_A,LOW);
  digitalWrite(mic_head_A,HIGH);
  digitalWrite(mic_back_A,LOW  );
}

void right()
{
  digitalWrite(mic_left_A,LOW);
  digitalWrite(mic_right_A,HIGH);
  digitalWrite(mic_head_A,LOW);
  digitalWrite(mic_back_A,HIGH);
}

void back()
{
  digitalWrite(mic_left_A,HIGH);
  digitalWrite(mic_right_A,LOW);
  digitalWrite(mic_head_A,LOW);
  digitalWrite(mic_back_A,HIGH);
}

void stoop()
{
  digitalWrite(mic_left_A,LOW);
  digitalWrite(mic_right_A,LOW);
  digitalWrite(mic_head_A,LOW);
  digitalWrite(mic_back_A,LOW);
}

示例程序:

#include <AccelStepper.h>

const int ENPin_A =8  ;      // the number of the LED pin
const int ENPin_B =23  ;      // the number of the LED pin

int motorSpeed = 9600; //maximum steps per second (about 3rps / at 16 microsteps)
int motorAccel = 80000; //steps/second/second to accelerate

int motorDirPin_A = 5; //digital pin 5
int motorStepPin_A = 7; //digital pin 7
int motorDirPin_B = 18; //digital pin 5
int motorStepPin_B = 22; //digital pin 7

//set up the accelStepper intance
//the "1" tells it we are using a driver
AccelStepper stepper_A(1, motorStepPin_A, motorDirPin_A); 
AccelStepper stepper_B(1, motorStepPin_B, motorDirPin_B); 

void setup(){
  pinMode(ENPin_A, OUTPUT);  
  pinMode(ENPin_B, OUTPUT);
  stepper_A.setMaxSpeed(motorSpeed);
  stepper_A.setSpeed(motorSpeed);
  stepper_A.setAcceleration(motorAccel);

  stepper_A.moveTo(3200); //move 32000 steps (should be 10 rev)

  stepper_B.setMaxSpeed(motorSpeed);
  stepper_B.setSpeed(motorSpeed);
  stepper_B.setAcceleration(motorAccel);

  stepper_B.moveTo(3200); //move 32000 steps (should be 10 rev)

}

void loop(){
  digitalWrite(ENPin_A, LOW);
  digitalWrite(ENPin_B, LOW);
  //if stepper is at desired location
  if (stepper_A.distanceToGo() == 0){
    //go the other way the same amount of steps
    //so if current position is 400 steps out, go position -400
    stepper_A.moveTo(-stepper_A.currentPosition()); 
  }
  //these must be called as often as possible to ensure smooth operation
  //any delay will cause jerky motion
  stepper_A.run();

  if (stepper_B.distanceToGo() == 0){
    //go the other way the same amount of steps
    //so if current position is 400 steps out, go position -400
    stepper_B.moveTo(-stepper_B.currentPosition()); 
  }
  //these must be called as often as possible to ensure smooth operation
  //any delay will cause jerky motion
  stepper_B.run();
}

应用

机器人平衡车 BOXZ_mini机器人

购买

历史

图库

  • 正面
Microduino-Robot-F.JPG
  • 背面
Microduino-Robot-b.JPG

视频