{"id":1066,"date":"2017-09-04T00:26:16","date_gmt":"2017-09-03T16:26:16","guid":{"rendered":"https:\/\/swf.com.tw\/?p=1066"},"modified":"2017-09-09T00:50:56","modified_gmt":"2017-09-08T16:50:56","slug":"tb6612fng%e7%9b%b4%e6%b5%81%e9%a6%ac%e9%81%94%e9%a9%85%e5%8b%95%e2%88%95%e6%8e%a7%e5%88%b6%e6%9d%bf%ef%bc%88%e4%b8%80%ef%bc%89%ef%bc%9a%e7%b0%a1%e4%bb%8b%e3%80%81%e7%a8%8b%e5%bc%8f%e5%ba%ab%e8%88%87","status":"publish","type":"post","link":"https:\/\/swf.com.tw\/?p=1066","title":{"rendered":"TB6612FNG\u76f4\u6d41\u99ac\u9054\u9a45\u52d5\u2215\u63a7\u5236\u677f\uff08\u4e00\uff09\uff1a\u7c21\u4ecb\u3001\u7a0b\u5f0f\u5eab\u8207\u53d6\u4ee3L298N\u6a21\u7d44"},"content":{"rendered":"<p>\u672c\u6587\u65e8\u5728\u88dc\u5145\u300a<a href=\"\/?p=986\" target=\"_blank\">\u8d85\u5716\u89e3Arduino\u4e92\u52d5\u8a2d\u8a08\u5165\u9580<\/a>\u300b\u7b2c\u5341\u7ae0\u5c0f\u578b\u76f4\u6d41\u99ac\u9054\u63a7\u5236\u677f\u55ae\u5143\u3002TB6612FNG\u662f\u6771\u829d\u751f\u7522\u7684\u99ac\u9054\u9a45\u52d5\u8207\u63a7\u5236IC\uff0c\u5167\u90e8\u5305\u542b<strong>\u5169\u7d44H\u6a4b\u5f0f\u96fb\u8def<\/strong>\uff0c\u53ef\u9a45\u52d5\u548c\u63a7\u5236\u5169\u500b\u5c0f\u578b\u76f4\u6d41\u99ac\u9054\uff0c\u6216\u8005\u4e00\u500b\u96d9\u6975\u6027\u6b65\u9032\u99ac\u9054\u3002\u8ddfL298N\u6bd4\u8f03\uff0c\u5f9e\u5916\u89c0\u770b\u4f86\uff0cTB6612FNG\u63a7\u5236\u677f\u660e\u986f\u5b0c\u5c0f\uff0c\u800c\u4e14\u6c92\u6709\u6563\u71b1\u7247\uff0c\u9019\u5169\u500b\u99ac\u9054\u63a7\u5236\u677f\u7684\u4e3b\u8981\u898f\u683c\u6bd4\u8f03\u5982\u4e0b\uff1a<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" src=\"\/images\/books\/arduino\/3rd\/TB6612FNG_L298N_compare.png\" width=\"693\" height=\"555\" alt=\"\u6bd4\u8f03TB6612FNG\u76f4\u6d41\u99ac\u9054\u9a45\u52d5\u677f\u8207L298N\u6a21\u7d44\"\/><\/p>\n<p>\u4e0a\u8868\u300c\u6548\u7387\u300d\u6b04\u4f4d\u7684\u8aaa\u660e\uff0c\u8acb\u53c3\u95b1<a href=\"\/?p=1070\" target=\"_blank\">\u4e0b\u4e00\u7bc7\u6587\u7ae0<\/a>\u3002<\/p>\n<h2>\u7528TB6612FNG\u76f4\u6d41\u99ac\u9054\u9a45\u52d5\u677f\u53d6\u4ee3L298N\u6a21\u7d44<\/h2>\n<p>L298\u6676\u7247\u4e5f\u6709\u6bd4\u8f03\u5c0f\u578b\u7684PowerSO20\u5c01\u88dd\u578b\u5f0f\uff08L298P\u578b\u865f\uff09\uff0c\u4f46\u5982\u679c\u4f60\u7684<strong>\u5fae\u63a7\u5236\u677f\u63a13.3V\u4f9b\u96fb<\/strong>\uff0c\u4f8b\u5982\uff1aArduino Pro Mini\u3001\u57f7\u884cJavaScript\u7684Espruino\u3001ESP8266\u7cfb\u5217\u63a7\u5236\u677f\u2026\u7b49\u7b49\uff0cTB6612FNG\u6a21\u7d44\u662f\u6bd4\u8f03\u597d\u7684\u9078\u64c7\uff0c\u9664\u975e\u4f60\u63a1\u7528\u7684\u76f4\u6d41\u99ac\u9054\u5de5\u4f5c\u96fb\u58d3\u5927\u65bc13V\u3002<\/p>\n<p>\u5e95\u4e0b\u662f\u4e00\u6b3e\u5e38\u898b\u7684<strong>TB6612FNG\u76f4\u6d41\u99ac\u9054\u9a45\u52d5\u6a21\u7d44\u7684\u63a5\u8173\u8aaa\u660e<\/strong>\uff1a<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" src=\"\/images\/books\/arduino\/3rd\/TB6612FNG_pinout.png\" width=\"723\" height=\"191\" alt=\"TB6612FNG\u76f4\u6d41\u99ac\u9054\u9a45\u52d5\u6a21\u7d44\u63a5\u8173\"\/><\/p>\n<p>\u4e0a\u5716\u662f\u6700\u7cbe\u7c21\u7684TB6612FNG\u63a7\u5236\u677f\uff0c\u67d0\u4e9b\u677f\u5b50\u914d\u6709\u76f4\u6d41\u96fb\u58d3\u8f49\u63db\u5668\u66ff\u99ac\u9054\u9a45\u52d5IC\u4f9b\u96fb\uff0c\u6709\u7684\u677f\u5b50\u5177\u6709\u9632\u6b62\u53cd\u63a5\u99ac\u9054\u96fb\u58d3\u7684\u96fb\u8def\uff0c\u4e0d\u904e\uff0c\u9019\u4e9bTB6612FNG\u677f\u7684\u9023\u63a5\u96fb\u8def\u548c\u64cd\u63a7\u65b9\u5f0f\u90fd\u4e00\u6a23\u3002<\/p>\n<p>\u548cL298N\u5c0d\u7167\uff0c\u4f60\u53ef\u4ee5\u767c\u73feTB6612FNG\u53ea\u591a\u4e86\u4e00\u500b<strong>STBY\uff08standby\uff0c\u5f85\u6a5f\uff0c\u76f8\u7576\u65bc\u7701\u96fb\uff09\u6a21\u5f0f<\/strong>\u63a5\u8173\uff0c<strong>\u63a7\u5236\u99ac\u9054\u7684\u63a5\u8173\u548c\u63a5\u7dda\uff0c\u90fd\u8ddfL298N\u4e00\u6a23\u3002<\/strong>\u4e0b\u8868\u5217\u8209\u63a7\u5236\u300c\u99ac\u9054A\u300d\u7684\u8f38\u5165\u548c\u8f38\u51fa\u95dc\u4fc2\uff0c1\u4ee3\u8868\u9ad8\u96fb\u4f4d\uff0c0\u4ee3\u8868\u4f4e\u96fb\u4f4d\uff1a<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" src=\"\/images\/books\/arduino\/3rd\/TB6612FNG_table.png\" width=\"517\" height=\"257\" alt=\"TB6612FNG\u7684\u8f38\u5165\u8207\u8f38\u51fa\u95dc\u4fc2\u8868\"\/><\/p>\n<p>\u4e0b\u5716TB6612FNG\u8207Arduino\u7684\u63a5\u7dda\u793a\u7bc4\u662f\u4eff\u7167\u66f8\u672c\u300cA\u578b\u99ac\u9054\u63a7\u5236\u677f\u300d\u7684\u63a5\u7dda\uff0c\u7a0b\u5f0f\u78bc\u4e5f\u5b8c\u5168\u4e00\u6a23\uff08\u53c3\u95b110-34\u9801\u6216\u8005\u300c<a href=\"\/?p=564\" target=\"_blank\">L298N\u99ac\u9054\u63a7\u5236\u677f\u63a5\u7dda\u8207\u63a7\u5236\u7a0b\u5f0f\u88dc\u5145<\/a>\u300d\uff09\uff0c\u91cd\u9ede\u662f<strong>\u99ac\u9054\u9a45\u52d5\u677f\u7684PWMA\u548cPWMB\u8981\u63a5\u5728Arduino\u7684PWM\u8173\u3002<\/strong><\/p>\n<p><img decoding=\"async\" loading=\"lazy\" src=\"\/images\/books\/arduino\/3rd\/TB6612FNG_arduino.png\" width=\"681\" height=\"592\" alt=\"TB6612FNG\u8207Arduino\u7684\u63a5\u7dda\u793a\u7bc4\"\/><\/p>\n<h2>\u4f7f\u7528TB6612FNG\u7a0b\u5f0f\u5eab\u63a7\u5236\u5169\u500b\u76f4\u6d41\u99ac\u9054<\/h2>\n<p>\u96d6\u7136\u63a7\u5236TB6612FNG\u6a21\u7d44\u7684\u7a0b\u5f0f\u4e0d\u96e3\uff0c\u4f46\u9084\u662f\u6709\u66f4\u7c21\u55ae\u7684\u65b9\u5f0f\u3002TB6612FNG\u6709\u5e7e\u500b\u7a0b\u5f0f\u5eab\u53ef\u9078\uff0c\u672c\u6587\u4ecb\u7d39\u7f8e\u570bSpark Fun\u96fb\u5b50\u6750\u6599\u4f9b\u61c9\u5546\u64b0\u5beb\u7684<a href=\"https:\/\/github.com\/sparkfun\/SparkFun_TB6612FNG_Arduino_Library\" target=\"_blank\">SparkFun_TB6612FNG_Arduino\u7a0b\u5f0f\u5eab<\/a>\uff0c\u56e0\u70ba\u7a0b\u5f0f\u78bc\u5f88\u7c21\u55ae\uff0c\u5e95\u4e0b\u76f4\u63a5\u63a1\u7528\u7a0b\u5f0f\u5eab\u9644\u5e36\u7684\u7bc4\u4f8b\u4f86\u4ecb\u7d39\u76f8\u95dc\u6307\u4ee4\u3002<\/p>\n<p>\u9019\u500b\u7a0b\u5f0f\u5eab\u6709\u652f\u63f4\u300c\u5f85\u6a5f\u6a21\u5f0f\u300d\uff0c\u56e0\u6b64<strong>\u8acb\u5c07TB6612FNG\u6a21\u7d44\u7684STBY\u63a5\u5728\u4efb\u4f55\u53ef\u7528\u7684\u6578\u4f4d\u6216\u985e\u6bd4\u8173\uff0c\u672c\u6587\u628aSTBY\u63a5\u5728\u6578\u4f4d11\u8173\u3002<\/strong><\/p>\n<p><strong>\u6bcf\u500b\u99ac\u9054\u90fd\u8981\u900f\u904e\u7a0b\u5f0f\u5eab\u7684Motor()\u51fd\u5f0f\u5efa\u7acb\u300c\u99ac\u9054\u7269\u4ef6\u300d<\/strong>\uff0c\u63a5\u4e0b\u4f86\u7684\u7a0b\u5f0f\u78bc\u5c31\u80fd\u900f\u904e\u300c\u99ac\u9054\u7269\u4ef6\u300d\u57f7\u884c\u9a45\u52d5\uff08drive\uff09\u3001\u524d\u9032\uff08forward\uff09\u3001\u5de6\u8f49\uff08left\uff09\u2026\u7b49\u529f\u80fd\u3002\u5e95\u4e0b\u662f\u7a0b\u5f0f\u78bc\u958b\u982d\u7684\u63a7\u5236\u8173\u4f4d\u5ba3\u544a\uff0c\u4ee5\u53ca\u5efa\u7acb\u5169\u500b\u99ac\u9054\u7269\u4ef6\u7684\u7a0b\u5f0f\u7247\u6bb5\uff08\u8acb\u6ce8\u610f\uff01\u5e95\u4e0b\u7a0b\u5f0f\u7684\u63a5\u7dda\u8a2d\u5b9a\u4ee5\u4e0a\u5716\u70ba\u4e3b\uff0c\u8ddf\u539f\u59cb\u7bc4\u4f8b\u4e0d\u540c\uff09\uff1a<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" src=\"\/images\/books\/arduino\/3rd\/TB6612FNG_code.png\" width=\"681\" height=\"441\" alt=\"TB6612FNG\u7a0b\u5f0f\u5eab\u7684\u521d\u59cb\u5316\u7a0b\u5f0f\u78bc\"\/><\/p>\n<p>\u76f4\u6d41\u99ac\u9054\u7684\u6b63\u8f49\u6216\u53cd\u8f49\uff0c\u8ddf\u64fa\u8a2d\u548c\u4eba\u5011\u7684\u89c0\u5bdf\u8996\u89d2\u6709\u95dc\u3002\u4ee5\u4e0b\u5716\u70ba\u4f8b\uff0c\u99ac\u9054\u5176\u5be6\u90fd\u662f\u671d\u540c\u4e00\u65b9\u5411\u65cb\u8f49\uff0c\u4f46\u64fa\u8a2d\u65b9\u5f0f\u4e0d\u540c\uff0c\u6240\u4ee5\u8f49\u5411\u4e5f\u4e0d\u4e00\u6a23\u3002<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" src=\"\/images\/books\/arduino\/3rd\/motor_offset.png\" width=\"482\" height=\"89\" alt=\"\u99ac\u9054\u7684\u64fa\u8a2d\u65b9\u5f0f\u5f71\u97ff\u8f49\u5411\"\/><\/p>\n<p>\u70ba\u6b64\uff0c\u9019\u500b\u7a0b\u5f0f\u5eab\u5b89\u6392\u4e86\u4e00\u500b&#8220;offset&#8221;\u8b8a\u6578\uff08\u300c\u62b5\u6d88\u300d\u4e4b\u610f\uff09\uff0c\u900f\u904e\u8a2d\u5b9a1\u6216-1\u4f86\u6c7a\u5b9a\u99ac\u9054\u7684\u521d\u59cb\u8f49\u5411\u3002<\/p>\n<p>\u5e95\u4e0b\u662fTB6612FNG\u7a0b\u5f0f\u5eab\u7684\u5b8c\u6574\u7bc4\u4f8b\u7a0b\u5f0f\u78bc\uff0c\u99ac\u9054\u7269\u4ef6\u7684\u63a7\u5236\u65b9\u6cd5\u6307\u4ee4\uff0c\u8acb\u53c3\u95b1\u4e0b\u6587\u8aaa\u660e\u3002<\/p>\n<pre>\r\n#include &lt;SparkFun_TB6612.h&gt;\r\n\r\n#define AIN1 8   \/\/ \u63a7\u5236\u8f38\u5165A1\r\n#define AIN2 7   \/\/ \u63a7\u5236\u8f38\u5165A2\r\n#define BIN1 10  \/\/ \u63a7\u5236\u8f38\u5165B1\r\n#define BIN2 9   \/\/ \u63a7\u5236\u8f38\u5165B2\r\n#define PWMA 6\r\n#define PWMB 5\r\n#define STBY 11  \/\/ \u300c\u5f85\u6a5f\u300d\u63a7\u5236\u63a5Arduino\u768411\u8173\r\n\r\nconst int offsetA = 1;  \/\/ \u6b63\u53cd\u8f49\u8a2d\u5b9aA\uff0c\u53ef\u80fd\u503c\u70ba1\u6216-1\u3002\r\nconst int offsetB = 1;  \/\/ \u6b63\u53cd\u8f49\u8a2d\u5b9aB\uff0c\u53ef\u80fd\u503c\u70ba1\u6216-1\u3002\r\n\r\nMotor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);\r\nMotor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);\r\n\r\nvoid setup() {\r\n \/\/ \u9019\u88e1\u6c92\u6709\u7a0b\u5f0f\u78bc\r\n}\r\n\r\nvoid loop() {\r\n   motor1.drive(255,1000);   \/\/ \u9a45\u52d5\u99ac\u90541\u5168\u901f\u6b63\u8f491\u79d2\r\n   motor1.drive(-255,1000);  \/\/ \u9a45\u52d5\u99ac\u90541\u5168\u901f\u53cd\u8f491\u79d2\r\n   motor1.brake();           \/\/ \u505c\u6b62\u99ac\u90541\r\n   delay(1000);\r\n   \r\n   motor2.drive(255,1000);   \/\/ \u9a45\u52d5\u99ac\u90542\u5168\u901f\u6b63\u8f491\u79d2\r\n   motor2.drive(-255,1000);  \/\/ \u9a45\u52d5\u99ac\u90542\u5168\u901f\u53cd\u8f491\u79d2\r\n   motor2.brake();           \/\/ \u505c\u6b62\u99ac\u90542\r\n   delay(1000);\r\n   \r\n   forward(motor1, motor2, 150);  \/\/ \u9a45\u52d5\u96d9\u99ac\u9054\u534a\u901f\u524d\u9032\r\n   delay(1000);\t\t\t\t       \/\/ \u6301\u7e8c1\u79d2\r\n   \r\n   back(motor1, motor2, -150);  \/\/ \u9a45\u52d5\u96d9\u99ac\u9054\u534a\u901f\u524d\u9032\r\n   delay(1000);\r\n   \r\n   brake(motor1, motor2);     \/\/ \u505c\u6b62\u5169\u500b\u99ac\u9054\r\n   delay(1000);\r\n   \r\n   left(motor1, motor2, 100);   \/\/ \u5de6\u8f49\r\n   delay(1000);\r\n   right(motor1, motor2, 100);  \/\/ \u53f3\u8f49\r\n   delay(1000);\r\n   \r\n   brake(motor1, motor2);     \/\/ \u505c\u6b62\u5169\u500b\u99ac\u9054\r\n   delay(1000);   \r\n}\r\n<\/pre>\n<h2>SparkFun_TB6612FNG\u7a0b\u5f0f\u5eab\u99ac\u9054\u7269\u4ef6\u7684\u65b9\u6cd5 <\/h2>\n<p>\u5e95\u4e0b\u662f\u9019\u500b\u7a0b\u5f0f\u5eab\u99ac\u9054\u7269\u4ef6\u63d0\u4f9b\u7684\u65b9\u6cd5\u6307\u4ee4\uff1a<\/p>\n<ul>\n<li><strong>drive(\u901f\u5ea6, \u6301\u7e8c\u6642\u9593)<\/strong> <br \/>\n    \u9a45\u52d5\u4e00\u500b\u99ac\u9054\u3002\u300c\u901f\u5ea6\u300d\u662f\u4ecb\u65bc-255~255\u7684\u6574\u6578\u503c\uff0c\u6578\u5b57\u8d8a\u5927\uff0c\u8f49\u901f\u8d8a\u9ad8\uff0c\u8ca0\u503c\u4ee3\u8868\u53cd\u8f49\u3002\u300c\u6301\u7e8c\u6642\u9593\u300d\u662f\u9078\u64c7\u6027\u53c3\u6578\uff0c\u7528\u65bc\u6307\u5b9a\u8f49\u52d5\u6642\u9593\u3002<\/p>\n<\/li>\n<li><strong>standby()<\/strong><br \/>\n  \u5c07\u6676\u7247\u8a2d\u5b9a\u6210\u5f85\u6a5f\u6a21\u5f0f\u3002\u57f7\u884c\u4efb\u4f55\u9a45\u52d5\u99ac\u9054\u7684\u6307\u4ee4\uff08drive, forward, back, left\u548cright\uff09\uff0c\u5c07\u505c\u6b62\u5f85\u6a5f\u6a21\u5f0f\u3002 <\/p>\n<\/li>\n<li><strong>forward(\u99ac\u9054\u7269\u4ef61, \u99ac\u9054\u7269\u4ef62, \u901f\u5ea6)<\/strong><br \/>\n    \u9a45\u4f7f\u5169\u500b\u99ac\u9054\u524d\u9032\u3002\u82e5\u57f7\u884c\u6b64\u6307\u4ee4\u7684\u7d50\u679c\u662f\u300c\u5f8c\u9000\u300d\uff0c\u8acb\u4fee\u6539offset\u503c\uff1b\u901f\u5ea6\u503c\u4ecb\u65bc-255~255\u6574\u6578\uff0c\u82e5\u300c\u901f\u5ea6\u300d\u503c\u70ba\u8ca0\uff0c\u99ac\u9054\u4e5f\u6703\u53cd\u8f49\uff1a\u82e5\u5ffd\u7565\u300c\u901f\u5ea6\u300d\u503c\uff0c\u4ee3\u8868\u63a1\u7528\u7a0b\u5f0f\u5eab\u9810\u8a2d\u7684DEFAULTSPEED\u503c\uff08255\uff09\u3002<\/p>\n<\/li>\n<li><strong>back(\u99ac\u9054\u7269\u4ef61, \u99ac\u9054\u7269\u4ef62, \u901f\u5ea6)<\/strong><br \/>\n  \u9a45\u4f7f\u5169\u500b\u99ac\u9054\u5f8c\u9000\u3002\u82e5\u57f7\u884c\u6b64\u6307\u4ee4\u7684\u7d50\u679c\u662f\u300c\u524d\u9032\u300d\uff0c\u8acb\u4fee\u6539offset\u503c\u3002 <\/p>\n<\/li>\n<li><strong>left(\u99ac\u9054\u7269\u4ef61, \u99ac\u9054\u7269\u4ef62, \u901f\u5ea6)<\/strong><br \/>\n    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<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>TB6612FNG\u662f\u6771\u829d\u751f\u7522\u7684\u99ac\u9054\u9a45\u52d5\u8207\u63a7\u5236IC\uff0c\u5167\u90e8\u5305\u542b<strong>\u5169\u7d44H\u6a4b\u5f0f\u96fb\u8def<\/strong>\uff0c\u53ef\u9a45\u52d5\u548c\u63a7\u5236\u5169\u500b\u5c0f\u578b\u76f4\u6d41\u99ac\u9054\uff0c\u6216\u8005\u4e00\u500b\u96d9\u6975\u6027\u6b65\u9032\u99ac\u9054\u3002\u8ddfL298N\u6bd4\u8f03\uff0c\u5f9e\u5916\u89c0\u770b\u4f86\uff0cTB6612FNG\u63a7\u5236\u677f\u660e\u986f\u5b0c\u5c0f\uff0c\u800c\u4e14\u6c92\u6709\u6563\u71b1\u7247\uff0c\u9019\u5169\u500b\u99ac\u9054\u63a7\u5236\u677f\u7684\u4e3b\u8981\u898f\u683c\u6bd4\u8f03\u5982\u4e0b\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"\/images\/books\/arduino\/3rd\/TB6612FNG_L298N_compare.png\" width=\"693\" height=\"555\" 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