尺寸图

功能配置

• 控制方式： I2C命令控制。
• 驱动信号：100Hz~12750Hz的PWM信号
• 编码器电机功能（仅限带编码器直流电机使用）：
  • 编码器使能/失能
  • 减速比配置
  • 获取编码器电机的转速
• 基本功能
  • 设置驱动信号频率
  • 设置占空比
  • 设置电机正反转
  • 调速
    • PWM调速（频率一定，改变占空比大小，越大转速越快）
    • 调频（改变驱动信号频率）

树莓派使用教程

硬件

• 1 x 树莓派
• 1 x DC Motor Driver HAT
• 2 x 带编码器L型直流减速电机[http://www.dfrobot.com.cn/goods-1272.html' 点此链接购买']
• 2 x 直流电机[http://www.dfrobot.com.cn/goods-362.html' 点此链接购买']

注：额定工作电压在7~12V，电流不超过2A的直流电机均可！

软件

• DFRobot_RaspberryPi_Motor库

接线图

准备步骤

step1：将DC Motor Driver HAT直插到树莓派主板上，连接电机板和电机，上电. step2：检测I2C接口是否使能。输入命令i2cdetect -y 1，若未使能，会显示如下图所示提示： step3:使能I2C接口。（若已开启可忽略此步）键入命令sudo raspi-config,进入配置界面，操作流程如下所示： 配置完成后，键入命令sudo reboot重启树莓派。 step4：检测I2C地址。键入命令i2cdetect -y 1检查设备I2C地址，如下图所示： step5:下载DFRobot_RaspberryPi_Motor库。键入命令'sudo git clone https://github.com/DFRobot/DFRobot_RaspberryPi_Motor ,输入ls'查看命令，如下图所示：

样例程序

进入DFRobot_RaspberryPi_Motor库python所在目录

cd /DFRobot_RaspberryPi_Motor/raspberry

如何驱动一个带编码器直流电机？

id参数可用使用变量M1，M2，ALL，分别表示电机M1，电机M2，M1和M2

• step1.使能编码器；

set_encoder_enable(self, id)
例：
board = Board(1,0x10)
set_encoder_enable（[board.M1]）#使能编码器电机M1
set_encoder_enable（[board.M2]）#使能编码器电机M2
set_encoder_enable（[board.M1,board.M2]）#使能编码器电机M1和M2
set_encoder_enable（board.ALL）#使能编码器电机M1和M2

• step2.设置电机减速比（demo默认43:1） 跟电机的减速比有关

set_encoder_reduction_ratio(self, id, reduction_ratio)

• step3.设置PWM信号的频率（demo默认为1000Hz）

set_moter_pwm_frequency(self, frequency)

• step4.指定M1，M2或M1和M2的转向（正转或反转），和速度（占空比0~100）

motor_movement(self, id, orientation, speed)

• step5.获取编码器电机的速度

get_encoder_speed(self, id)

注：使用不同电机，其减速比参数不同，在运行demo之前，需修改所用电机的减速比！

更多功能配置及使用方法说明'''

运行DC_Motor_Demo.py示例（所用电机减速比为120：1，已修改为120），打印编码器电机的占空比和转速。

python DC_Motor_Demo.py

程序代码如下所示：

# -*- coding:utf-8 -*-


'''
DC_Motor_Demo.py
  #
Connect board with raspberryPi.
Make board power and motor connection correct.
Run this demo.
  #
Motor 1 will move slow to fast, orientation clockwise,
motor 2 will move fast to slow, orientation count-clockwise,
then fast to stop. loop in few seconds.
Motor speed will print on terminal
  #
test motor: https://www.dfrobot.com/product-634.html
  #
Copyright   DFRobot, 2016
Copyright   GNU Lesser General Public License
  #
version  V1.0
date  2019-3-26
'''
import time
from DFRobot_RaspberryPi_DC_Motor import DFRobot_DC_Motor_IIC as Board
board = Board(1, 0x10)    # Select bus 1, set address to 0x10
def board_detect():
  l = board.detecte()
  print("Board list conform:")
  print(l)
''' print last operate status, users can use this variable to determine the result of a function call. '''
def print_board_status():
  if board.last_operate_status == board.STA_OK:
    print("board status: everything ok")
  elif board.last_operate_status == board.STA_ERR:
    print("board status: unexpected error")
  elif board.last_operate_status == board.STA_ERR_DEVICE_NOT_DETECTED:
    print("board status: device not detected")
  elif board.last_operate_status == board.STA_ERR_PARAMETER:
    print("board status: parameter error, last operate no effective")
  elif board.last_operate_status == board.STA_ERR_SOFT_VERSION:
    print("board status: unsupport board framware version")
if name == "main":
  board_detect()    # If you forget address you had set, use this to detected them, must have class instance
Set board controler address, use it carefully, reboot module to make it effective
  '''
  board.set_addr(0x10)
  if board.last_operate_status != board.STA_OK:
    print("set board address faild")
  else:
    print("set board address success")
  '''
  while board.begin() != board.STA_OK:    # Board begin and check board status
    print_board_status()
    print("board begin faild")
    time.sleep(2)
  print("board begin success")
  board.set_encoder_enable(board.ALL)                 # Set selected DC motor encoder enable
board.set_encoder_disable(board.ALL)              # Set selected DC motor encoder disable
  board.set_encoder_reduction_ratio(board.ALL, 120)    # Set selected DC motor encoder reduction ratio, test motor reduction ratio is 43.8
  board.set_moter_pwm_frequency(1000)   # Set DC motor pwm frequency to 1000HZ
  while True:
    for duty in range(5, 95, 10):   # slow to fast
      board.motor_movement([board.M1], board.CW, duty)    # DC motor 1 movement, orientation clockwise
      board.motor_movement([board.M2], board.CCW, duty)   # DC motor 2 movement, orientation count-clockwise
      time.sleep(1)
      speed = board.get_encoder_speed(board.ALL)      # Use boadrd.all to get all encoders speed
      print("duty: %d, M1 encoder speed: %d rpm, M2 encoder speed %d rpm" %(duty, speed[0], speed[1]))
    for duty in range(95, 5, - 10):   # fast to low
      board.motor_movement([board.M1], board.CW, duty)    # DC motor 1 movement, orientation clockwise
      board.motor_movement([board.M2], board.CCW, duty)   # DC motor 2 movement, orientation count-clockwise
      time.sleep(1)
      speed = board.get_encoder_speed(board.ALL)      # Use boadrd.all to get all encoders speed
      print("duty: %d, M1 encoder speed: %d rpm, M2 encoder speed %d rpm" %(duty, speed[0], speed[1]))
    print("stop all motor")
    board.motor_stop(board.ALL)   # stop all DC motor
    print_board_status()
    time.sleep(4)