简介

你是否想过iPhone 8的Home按键，MacBook的触控板在按下的时候是如何触发反馈的？如果你在iPhone, Mac没电的时候再按下它们，你会发现Home按键/触控板是无法被真正按下的。在按下时候得到的触觉反馈都得益于LRA（线性谐振执行器）型电机，这类电机通过电磁线圈驱动质量块直线运动，精准控制振动方向和强度。非常适合用于实现触觉反馈的效果。
DFRobot最新推出的Gravity: 振动电机驱动器采用了TM6605芯片，这类芯片专为LRA型电机（线性马达）设计，通过I2C通讯，可以快速设置内置的44种振动模式。无论是智能家居的触控反馈、教育机器人的互动设计，还是游戏手柄的沉浸式震动体验，Gravity 振动电机驱动均可通过简洁的代码实现细腻的触觉控制。
注：此驱动专为LRA型电机设计，并不能适用于ERM（偏心旋转质量）型电机。

产品特性

• 内置44中不同的振动模式
• 自动谐振追踪，可自动检测并且追踪最佳的换向频率
• Gravity I2C接口，附赠LRA电机。2分钟快速部署，告别复杂电路调试

规格参数

• 供电电压：2.7V-5.2V
• 工作温度：-40~85℃
• 支持的LRA频率：140~220Hz
• 工作电流：9.5μA（休眠时），电机振动时的电流由电机决定
• 尺寸：30 * 20mm
• 安装孔尺寸：φ3.0mm

引脚说明

使用教程

软硬件准备

硬件准备

• DFRduino UNO+IO扩展板 (SKU:DFR0216-2) ×1
• Gravity: 振动电机传感器（SKU:DRI0056）×1

软件准备

• 下载Arduino IDE： 点击下载Arduino IDE
• 下载DFRobot_TM6605库：DFRobot TM6605库
• Arduino IDE V1.8.19（或以下）安装库文件： 如何加载库文件
• Arduino IDE V2.0.0（或以上）可直接在库管理中搜索"DFRobot_TM6605"库并安装

接线图

示例代码

• 烧录以下示例代码后，振动电机会每两秒切换振动效果。
• 串口监视器中可以看到当前振动模式

/*!
 * @file demo.ino
 * @brief This demo showcases all the vibration effects of the TM6605.
 * @copyright	Copyright (c) 2025 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @license The MIT License (MIT)
 * @author [fary](feng.yang@dfrobot.com)
 * @version V1.0
 * @date 2025-04-08
 * @url https://github.com/DFRobot/DFRobot_TM6605
 */
#include "DFRobot_TM6605.h"
DFRobot_TM6605 TM6605;
DFRobot_TM6605::eEffect_t effects[] = {
   DFRobot_TM6605::eSharpClick,  DFRobot_TM6605::eInstantClick,  DFRobot_TM6605::eLightTap,  DFRobot_TM6605::eDoubleClick,
   DFRobot_TM6605::eLightPulse,  DFRobot_TM6605::eStrongAlert,  DFRobot_TM6605::eMediumDurationAlert,  DFRobot_TM6605::eSharpClick2,
   DFRobot_TM6605::eMediumClick,  DFRobot_TM6605::eFlashStrike,  DFRobot_TM6605::eDoubleHighClickShort,  DFRobot_TM6605::eDoubleMediumClickShort,
   DFRobot_TM6605::eDoubleFlashStrikeShort, DFRobot_TM6605::eDoubleInstantClickLong,  DFRobot_TM6605::eDoubleMediumInstantClickLong,
   DFRobot_TM6605::eDoubleFlashStrikeLong,  DFRobot_TM6605::eAlert,  DFRobot_TM6605::eToggleClick,  DFRobot_TM6605::eLongSlowFadeTransition1,
   DFRobot_TM6605::eLongSlowFadeTransition2,  DFRobot_TM6605::eMediumSlowFadeTransition1,  DFRobot_TM6605::eMediumSlowFadeTransition2,
   DFRobot_TM6605::eShortSlowFadeTransition1, DFRobot_TM6605::eShortSlowFadeTransition2,  DFRobot_TM6605::eLongFastFadeTransition1,
   DFRobot_TM6605::eLongFastFadeTransition2,  DFRobot_TM6605::eMediumFastFadeTransition1,  DFRobot_TM6605::eMediumFastFadeTransition2,
   DFRobot_TM6605::eShortFastFadeTransition1, DFRobot_TM6605::eShortFastFadeTransition2,  DFRobot_TM6605::eLongSlowBoostTransition1,
   DFRobot_TM6605::eLongSlowBoostTransition2, DFRobot_TM6605::eMediumSlowBoostTransition1, DFRobot_TM6605::eMediumSlowBoostTransition2,
   DFRobot_TM6605::eShortSlowBoostTransition1,DFRobot_TM6605::eShortSlowBoostTransition2,  DFRobot_TM6605::eLongFastBoostTransition1,
   DFRobot_TM6605::eLongFastBoostTransition2, DFRobot_TM6605::eMediumFastBoostTransition1, DFRobot_TM6605::eMediumFastBoostTransition2,
   DFRobot_TM6605::eShortFastBoostTransition1,DFRobot_TM6605::eShortFastBoostTransition2,  DFRobot_TM6605::eLongAlert, DFRobot_TM6605::eSoftNoise,
   DFRobot_TM6605::eSleepCommand
};
void setup() {
	Serial.begin(115200);
	while(!Serial);
	Serial.print("TM6605 init...");
	while(TM6605.begin()!=0){
		Serial.print("failed,Not found TM6605!");
	}
	Serial.println("successed");
	TM6605.play();
}
  
void loop() {
  // Traverse all effects
  for (auto effect  : effects) {
    Serial.print("Playing: ");
    Serial.print(getEffectName(effect));
    Serial.print(" (ID:");
    Serial.print(effect);
    Serial.println(")");
    if(effect==TM6605.eSleepCommand)
			continue;
    TM6605.selectEffect(effect);
    TM6605.play();
    delay(2000); // Each effect is displayed for 2 seconds.
    if(effect==TM6605.eLongAlert)
			delay(8000);
    TM6605.stop(); // Stop the current effect.
    delay(500);   // The effect interval is 500ms.
  }
}

const char* getEffectName(uint8_t effect) {
	switch(effect) {
	  case TM6605.eSharpClick:                return "Sharp Click";
	  case TM6605.eInstantClick:              return "Instant Click";
	  case TM6605.eLightTap:                  return "Light Tap";
	  case TM6605.eDoubleClick:               return "Double Click";
	  case TM6605.eLightPulse:                return "Light Pulse";
	  case TM6605.eStrongAlert:               return "Strong Alert";
	  case TM6605.eMediumDurationAlert:       return "Medium Alert";
	  case TM6605.eSharpClick2:               return "Sharp Click2";
	  case TM6605.eMediumClick:               return "Medium Click";
	  case TM6605.eFlashStrike:               return "Flash Strike";
	  case TM6605.eDoubleHighClickShort:      return "Double High Click (Short)";
	  case TM6605.eDoubleMediumClickShort:    return "Double Medium Click (Short)";
	  case TM6605.eDoubleFlashStrikeShort:    return "Double Flash Strike (Short)";
	  case TM6605.eDoubleInstantClickLong:    return "Double Instant Click (Long)";
	  case TM6605.eDoubleMediumInstantClickLong: return "Double Medium Instant Click (Long)";
	  case TM6605.eDoubleFlashStrikeLong:     return "Double Flash Strike (Long)";
	  case TM6605.eAlert:                     return "Alert";
	  case TM6605.eToggleClick:               return "Toggle Click";
	  case TM6605.eLongSlowFadeTransition1:   return "Long Slow Fade 1";
	  case TM6605.eLongSlowFadeTransition2:   return "Long Slow Fade 2";
	  case TM6605.eMediumSlowFadeTransition1: return "Medium Slow Fade 1";
	  case TM6605.eMediumSlowFadeTransition2: return "Medium Slow Fade 2";
	  case TM6605.eShortSlowFadeTransition1:  return "Short Slow Fade 1";
	  case TM6605.eShortSlowFadeTransition2:  return "Short Slow Fade 2";
	  case TM6605.eLongFastFadeTransition1:   return "Long Fast Fade 1";
	  case TM6605.eLongFastFadeTransition2:   return "Long Fast Fade 2";
	  case TM6605.eMediumFastFadeTransition1: return "Medium Fast Fade 1";
	  case TM6605.eMediumFastFadeTransition2: return "Medium Fast Fade 2";
	  case TM6605.eShortFastFadeTransition1:  return "Short Fast Fade 1";
	  case TM6605.eShortFastFadeTransition2:  return "Short Fast Fade 2";
	  case TM6605.eLongSlowBoostTransition1:  return "Long Slow Boost 1";
	  case TM6605.eLongSlowBoostTransition2:  return "Long Slow Boost 2";
	  case TM6605.eMediumSlowBoostTransition1: return "Medium Slow Boost 1";
	  case TM6605.eMediumSlowBoostTransition2: return "Medium Slow Boost 2";
	  case TM6605.eShortSlowBoostTransition1: return "Short Slow Boost 1";
	  case TM6605.eShortSlowBoostTransition2: return "Short Slow Boost 2";
	  case TM6605.eLongFastBoostTransition1:  return "Long Fast Boost 1";
	  case TM6605.eLongFastBoostTransition2:  return "Long Fast Boost 2";
	  case TM6605.eMediumFastBoostTransition1: return "Medium Fast Boost 1";
	  case TM6605.eMediumFastBoostTransition2: return "Medium Fast Boost 2";
	  case TM6605.eShortFstBoostTransition1: return "Short Fast Boost 1";
	  case TM6605.eShortFastBoostTransition2: return "Short Fast Boost 2";
	  case TM6605.eLongAlert:                 return "Long Alert";
	  case TM6605.eSoftNoise:                 return "Soft Noise";
	  case TM6605.eSleepCommand:              return "Sleep Command";
	  default:                         return "Unknown Effect";
	}
}

振动效果参数

常见问题

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