[转载] [Arduino模块] EMG49 驱动MD49 24V 电机
EMG49 驱动MD49 24V 电机
电路示意：
http://image.ednchina.com/GROUP/IMAGES/8957283574_1359513670219.gif
代码示例：
/*********************************************
* Arduino example code for MD49 *
* Using LCD03 in serial mode to display data *
* *
* By James Henderson, 2012. *
*********************************************/
#include <SoftwareSerial.h>
// Values of 0 being sent over serial write have to be cast as a byte so they arent misinterpreted as NULL
// This is a bug with arduino 1.0
#define CMD (byte)0x00 // MD49 command address of 0
#define GET_VER 0x29
#define GET_ENC1 0x23
#define GET_ENC2 0x24
#define GET_VI 0x2C
#define GET_ERROR 0x2D
#define SET_ACCEL 0x33
#define SET_SPEED1 0x31
#define SET_SPEED2 0x32
#define LCD_RX 0x02 // RX and TX pins used for LCD0303 serial port
#define LCD_TX 0x03
#define LCD03_HIDE_CUR 0x04
#define LCD03_HOME 0x01
#define LCD03_CLEAR 0x0C
#define LCD03_SET_CUR 0x02
SoftwareSerial lcd03 = SoftwareSerial(LCD_RX, LCD_TX); // Creates a serial port for the LCD03
byte enc1a, enc1b, enc1c, enc1d = 0;
byte enc2a, enc2b, enc2c, enc2d = 0;
byte bat_volt, mot1_cur, mot2_cur = 0;
byte ver = 0;
byte error = 0;
void setup()
{
Serial.begin(38400);
lcd03.begin(9600);
lcd03.write(LCD03_CLEAR);
lcd03.write(LCD03_HIDE_CUR);
}
void loop()
{
Serial.write(CMD); // command byte
Serial.write(SET_ACCEL);
Serial.write(5); // Set accelleration to 5
Serial.write(CMD);
Serial.write(SET_SPEED1);
Serial.write(140); // Set motor 1 speed
Serial.write(CMD);
Serial.write(SET_SPEED2);
Serial.write(140); // Set motor 2 speed
Serial.write(CMD);
Serial.write(GET_VER); // Recieve version back
delay(50);
if(Serial.available() > 0)
{
ver = Serial.read();
}
Serial.write(CMD);
Serial.write(GET_ERROR); // Recieve error byte back
delay(50);
if(Serial.available() > 0)
{
error = Serial.read();
}
Serial.write(CMD);
Serial.write(GET_VI); // Recieve battery volts and both motor currents back
delay(50);
if(Serial.available() > 2)
{
bat_volt = Serial.read();
mot1_cur = Serial.read();
mot2_cur = Serial.read();
}
Serial.write(CMD);
Serial.write(GET_ENC1); // Recieve encoder 1 value
delay(50);
if(Serial.available() > 3)
{
enc1a = Serial.read();
enc1b = Serial.read();
enc1c = Serial.read();
enc1d = Serial.read();
}
Serial.write(CMD);
Serial.write(GET_ENC2); // Recieve encoder 2 value
delay(50);
if(Serial.available() > 3)
{
enc2a = Serial.read();
enc2b = Serial.read();
enc2c = Serial.read();
enc2d = Serial.read();
}
lcd03.write(LCD03_HOME); // Return cursor home
lcd03.print("Rev: "); // Display data to the screen
lcd03.print(ver,DEC);
lcd03.print(" Battery V: ");
lcd03.print(bat_volt, DEC);
lcd03.write(LCD03_SET_CUR); // Set position of cursor
lcd03.write(21);
delay(5); // Delay to allow LCD03 time to process data
lcd03.print("Encoder 1:");
lcd03.print(enc1a,HEX);
lcd03.print(enc1b,HEX);
lcd03.print(enc1c,HEX);
lcd03.print(enc1d,HEX);
lcd03.write(LCD03_SET_CUR);
lcd03.write(41);
delay(5);
lcd03.write("Encoder 2:");
lcd03.print(enc2a,HEX);
lcd03.print(enc2b,HEX);
lcd03.print(enc2c,HEX);
lcd03.print(enc2d,HEX);
lcd03.write(LCD03_SET_CUR);
lcd03.write(61);
delay(5);
lcd03.print("Mot 1 I:");
lcd03.print(mot1_cur,DEC);
lcd03.print(" Mot 2 I:");
lcd03.print(mot2_cur,DEC);
lcd03.print("");
delay(5);
}
图好像一直加载不出来
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