L293 Motor Shield

概述

Arduino控制器兼容的电机驱动扩展板,支持双路电机控制,单路最大电流可达1A。 Arduino标准插针设计接口,可与其他扩展板模块叠层配合使用。可应用于小型移动机器人的开发。

技术规格

连线图

Motor Shield

引脚分配图

Pin Function
Digital 4 Motor 2 转向控制,高电平正转,低电平反转
Digital 5 Motor 2 PWM调速控制,范围0-255,0电机停转,255电机最大速度
Digital 6 Motor 1 PWM调速控制,范围0-255,0电机停转,255电机最大速度
Digital 7 Motor 1 转向控制,高电平正转,低电平反转

示例代码

    //This motor shield use Pin 6,5,7,4 to control the motor
    // Simply connect your motors to M1+,M1-,M2+,M2-
    // Upload the code to Arduino/Roboduino
    // Through serial monitor, type 'a','s', 'w','d','x' to control the motor
    // www.dfrobot.com
    // Last modified on 24/12/2009

    int EN1 = 6;
    int EN2 = 5;  //Roboduino Motor shield uses Pin 9
    int IN1 = 7;
    int IN2 = 4; //Latest version use pin 4 instead of pin 8



    void Motor1(int pwm, boolean reverse)
            {
              analogWrite(EN1,pwm); //set pwm control, 0 for stop, and 255 for maximum speed
             if(reverse)
             {
              digitalWrite(IN1,HIGH);
             }
            else
            {
              digitalWrite(IN1,LOW);
             }
            }

    void Motor2(int pwm, boolean reverse)
            {
              analogWrite(EN2,pwm);
             if(reverse)
             {
              digitalWrite(IN2,HIGH);
             }
            else
            {
              digitalWrite(IN2,LOW);
             }
            }

    void setup()
    {
        int i;
       // for(i=6;i<=9;i++) //For Roboduino Motor Shield
       // pinMode(i, OUTPUT);  //set pin 6,7,8,9 to output mode

        for(i=4;i<=7;i++)  //For Arduino Motor Shield
        pinMode(i, OUTPUT);  //set pin 4,5,6,7 to output mode

        Serial.begin(9600);
    }


    void loop()
    {
      int x,delay_en;
      char val;
      while(1)
      {
        val = Serial.read();
        if(val!=-1)
           {
              switch(val)
               {
                 case 'w'://Move ahead
                            Motor1(100,true);  //You can change the speed, such as Motor(50,true)
                            Motor2(100,true);

                             break;
                 case 'x'://move back
                            Motor1(100,false);
                            Motor2(100,false);
                             break;
                 case 'a'://turn left
                            Motor1(100,false);
                            Motor2(100,true);
                             break;
                 case 'd'://turn right
                            Motor1(100,true);
                            Motor2(100,false);
                            break;
                   case 's'://stop
                            Motor1(0,false);
                            Motor2(0,false);
                             break;

               }

           }

      }
    }

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