零知智能避障小车系列1 - L298N模块使用 电机驱动 TT马达

电机驱动模块在电子制作中会经常用到，下面以L298N型号的模块为例介绍其使用方法。模块引脚说明如下：

一、实验材料

直流减速电机TT马达2个，带车轮（便于实验观察）

电机驱动板1块

零知-标准板

杜邦线若干

二、连线：

我们把零知标准板和电机驱动板相连接，驱动2路电机工作。接线图如下：

引脚连接：

最后我们把电机驱动板的12v接到一个9v的电源上（如干电池组），然后GND连接到零知标准板的地。

三、代码

根据上述连接线后，我们使用程序来控制电机的运行：

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   /**
   *    文件: 电机驱动.ino      by 零知实验室([url=http://www.lingzhilab.com]www.lingzhilab.com[/url])
   *    -^^- 零知开源，让电子制作变得更简单！ -^^-
   *    时间: 2018/10/13 15:01
   *    说明: 
   **/
    
    
   //控制命令
   #define        STOP                 0
   #define        FORWARD                1
   #define        BACKWARD        2
   #define        TURNLEFT        3
   #define        TURNRIGHT        4
    
   //电机控制引脚
   #define LEFT_MOTOR1 2
   #define LEFT_MOTOR2        3
   #define RIGHT_MOTOR1 4
   #define RIGHT_MOTOR2 5
   #define LEFT_ENA 11
   #define RIGHT_ENB 12
    
   int LED_STATE = 0;
    
    
    
    
   void setup() {
       // put your setup code here, to run once:
            
           Serial.begin(9600);
            
           pinMode(LED_BUILTIN, OUTPUT);
            
           pinMode(LEFT_MOTOR1, OUTPUT);
           pinMode(LEFT_MOTOR2, OUTPUT);
           pinMode(RIGHT_MOTOR1, OUTPUT);
           pinMode(RIGHT_MOTOR2, OUTPUT);
           pinMode(LEFT_ENA,OUTPUT);
           pinMode(RIGHT_ENB,OUTPUT);
            
           motor_run(STOP);
            
   }
    
    
   void loop() {
       // put your main code here, to run repeatedly:
    
           int cmd = 1;
    
           motor_run(cmd);
    
           delay(1000);
            
           motor_run(0);
   }
						
						

把电机驱动的操作作为一个函数motor_run(int cmd);如下：

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	/**
	*        根据命令点击进行相应动作
	*         cmd 命令
	*/
	 
	int highSpeed = 200;
	int lowSpeed = 100;
	 
	void motor_run(int cmd)
	{
	        switch(cmd)
	        {
	                case FORWARD:
	                        Serial.println("FORWARD"); //输出状态
	                        analogWrite(LEFT_ENA,highSpeed);
	                        digitalWrite(LEFT_MOTOR1, LOW);
	                        digitalWrite(LEFT_MOTOR2, HIGH);
	                        analogWrite(RIGHT_ENB,highSpeed);
	                        digitalWrite(RIGHT_MOTOR1, LOW);
	                        digitalWrite(RIGHT_MOTOR2, HIGH);
	                break;
	                case BACKWARD:
	                        Serial.println("BACKWARD"); //输出状态
	                        digitalWrite(LEFT_MOTOR1,  HIGH);
	                        digitalWrite(LEFT_MOTOR2, LOW);
	                        digitalWrite(RIGHT_MOTOR1, HIGH);
	                        digitalWrite(RIGHT_MOTOR2, LOW);
	                break;
	                case TURNLEFT:
	                        Serial.println("TURN  LEFT"); //输出状态
	                        analogWrite(LEFT_ENA,lowSpeed);
	                        analogWrite(RIGHT_ENB,highSpeed);
	                        digitalWrite(LEFT_MOTOR1, LOW);
	                        digitalWrite(LEFT_MOTOR2, HIGH);//C
	                        digitalWrite(RIGHT_MOTOR1, LOW);
	                        digitalWrite(RIGHT_MOTOR2, HIGH);
	                break;
	                case TURNRIGHT:
	                        Serial.println("TURN  RIGHT"); //输出状态
	                        analogWrite(LEFT_ENA,highSpeed);
	                        analogWrite(RIGHT_ENB,lowSpeed);
	                        digitalWrite(LEFT_MOTOR1, LOW);
	                        digitalWrite(LEFT_MOTOR2, HIGH);
	                        digitalWrite(RIGHT_MOTOR1, LOW);//C
	                        digitalWrite(RIGHT_MOTOR2, HIGH);
	                break;
	                case STOP:
	                default:
	                        Serial.println("STOP"); //输出状态
	                        digitalWrite(LEFT_ENA,1);
	                        digitalWrite(RIGHT_ENB,1);
	                        digitalWrite(LEFT_MOTOR1, LOW);
	                        digitalWrite(LEFT_MOTOR2, LOW);
	                        digitalWrite(RIGHT_MOTOR1, LOW);
	                        digitalWrite(RIGHT_MOTOR2, LOW);
	                break;
	        }
	}						
							
							
							
							

我们把程序上传到零知-标准板上，调整程序中cmd的值，看看效果吧！

完整代码

电机驱动.7z(点击下载)

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