查看“Microduino-Shield Robot/zh”的源代码

{{Language|Microduino-Robot/zh}}
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Microduino-ROBOT板子作为机器人控制板, 将配合[[Microduino-Core+/zh]]、[[Microduino-Motor/zh]]或[[Microduino-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。
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[[File: Microduino- Robot -rect.jpg|400px|thumb|center|Microduino- Robot]]

==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
[[file:Microduino-Robot_Rule1.JPG|thumb|600px|center]]
[[file:Microduino-Robot_Rule2.JPG|thumb|600px|center]]
[[file:Microduino-Robot_Rule3.JPG|thumb|600px|center]]

==文档==
*芯片：'''[[File: LM2674.pdf]]'''
==开发==
*驱动直流电机，参考：[[Microduino-Motor/zh]]：
示例程序： 
<source lang="cpp">
//=========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);
}
</source>
*驱动步进电机，参考：[[Microduino-Stepper/zh]]
<source lang="cpp">

#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();
}
 </source>
==应用==
[[机器人平衡车]]
[[BOXZ_mini机器人]]
==购买==

==历史==

==图库==

*正面
 [[file:Microduino-Robot-F.JPG|thumb|600px|center]]
*背面
[[file:Microduino-Robot-b.JPG|thumb|600px|center]]
==视频==
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