“编码直流电机驱动器”的版本间的差异

#include <Wire.h>
int fourbottonPin = A0;
int sensorvalue = 0;

void MotorSetPwm(char address, int pwm1, int pwm2)                //pwm模式
{
  Wire.beginTransmission(address);   //ransmit to device #17 (0x11)
  Wire.write(0x06);       //写pwm寄存器地址
  Wire.write(highByte(pwm1));     //向pwm寄存器地址写编码电机转速
  Wire.write(lowByte(pwm1));       //向pwm寄存器地址写编码电机转速
  Wire.write(highByte(pwm2));     //向pwm寄存器地址写编码电机转速
  Wire.write(lowByte(pwm2));       //向pwm寄存器地址写编码电机转速
  Wire.endTransmission();       // stop transmitting
  delay(10);
}


void MotorSetSpeed(char address, short speed1 ,short speed2)      // auto模式
{
  Wire.beginTransmission(address);   //ransmit to device #17 (0x11)
  Wire.write(0x0A);                  //写速度寄存器地址
  Wire.write(highByte(speed1));      //向速度寄存器地址写编码电机转速
  Wire.write(lowByte(speed1));       //向速度寄存器地址写编码电机转速
  Wire.write(highByte(speed2));      //向速度寄存器地址写编码电机转速
  Wire.write(lowByte(speed2));       //向速度寄存器地址写编码电机转速
  Wire.endTransmission();       // stop transmitting
  delay(10);
}

void MotorSetMode(char address, char mode)                       // 设置模式
{
  Wire.beginTransmission(address);   //ransmit to device #17 (0x11)
  Wire.write(byte(0x00));            //写模式寄存器地址
  Wire.write(byte(mode));            //向模式寄存器写编码电机模式
  Wire.endTransmission();            // stop transmitting
  delay(10);
}

void MotorSetPosition(char address, long truns1, long turns2)    //定位模式
{
  Wire.beginTransmission(address);   //ransmit to device #17 (0x11)
  Wire.write(0x10);         //写turns寄存器地址
  Wire.write((byte)(truns1 >> 24 & 0x000000FF));
  Wire.write((byte)(truns1 >> 16 & 0x000000FF));
  Wire.write((byte)(truns1 >> 8 & 0x000000FF));
  Wire.write((byte)(truns1 & 0x000000FF));
  Wire.write((byte)(turns2 >> 24 & 0x000000FF));
  Wire.write((byte)(turns2 >> 16 & 0x000000FF));
  Wire.write((byte)(turns2 >> 8 & 0x000000FF));
  Wire.write((byte)(turns2 & 0x000000FF));
  Wire.endTransmission();       // stop transmitting
  delay(10);
}

void MotorStop(char address)
{
  Wire.beginTransmission(address);   //ransmit to device #17 (0x11)
  Wire.write(byte(0x00));       //写停止寄存器地址
  Wire.write(byte(0x00));       //向模式寄存器写编码电机模式
  Wire.endTransmission();       // stop transmitting
  delay(10);
}

void setup()
{
  Wire.begin();        // join i2c bus (address optional for master)
  Serial.begin(115200);
}

void loop()
{
       //定位模式
       MotorSetPosition(0x13, 200, 200);
       MotorSetMode(0x13,0x0F);
       delay(3000);
       MotorSetPosition(0x13, -200, -200);
       MotorSetMode(0x13,0x0F);
       delay(3000);
       MotorStop(0x13);
       delay(1000);

       //auto模式 
       MotorSetSpeed(0x13, 150, 150);
       MotorSetMode(0x13,0x0A);
       delay(1000);
       MotorSetSpeed(0x13, -150, -150);
       MotorSetMode(0x13,0x0A);
       delay(1000); 
        MotorStop(0x13);
       delay(1000);

      //pwm模式
       MotorSetPwm(0x13, 500, 500);
       MotorSetMode(0x13,0x05);
       delay(2000);
       MotorSetPwm(0x13, -500, -500);
       MotorSetMode(0x13,0x05);
       delay(2000); 
        MotorStop(0x13);
       delay(1000);

      delay(10000000);

}

"""
由于编码电机模块存在此缺陷:当程序上电后,会有异常脉冲信号导致I2C总线挂机
临时解决方案:将SCL(P19)引脚上电后先拉低
"""
from machine import I2C,Pin 
p19=Pin(Pin.P19,Pin.OUT,value=0)
#

from mpython import *
import bluebit

motor = bluebit.EncoderMotor(0x10)

while True:
    print("PWM mode")
    motor.set_pwm(500,-500)         # pwm模式,M1 speed 500； M2 speed -500
    sleep(2)
    print("Cruise mode")
    motor.set_cruise(800,800)       # 巡航模式 M1,M2恒速800
    sleep(5)
    print("Position mode:500")
    motor.set_position(500,500)   # 定位模式 电机转到位置500
    sleep(3)
    print("Position mode:-100")
    motor.set_position(-100,-100) # 定位模式 电机转到位置-100
    sleep(2)