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5.Motor control
5. Motor control
5. Motor control1. Learning objectives2. Experimental preparation3. Core code analysis4. Experimental phenomenon
1. Learning objectives
Control the TT motor connected to the expansion board.
2. Experimental preparation
As shown in the figure below, connect the motor to the motor interface.
3. Core code analysis
Raspbot_Lib library functions needed to control the motor:
xCtrl_Muto(motor_id, motor_speed)
Parameter explanation: Control the forward and reverse rotation and speed of the motor
motor_id=[1,4]: 1: M1 motor, 2: M2 motor, 3: M3 motor, 4: M4 motor
motor_speed=[-255,255], positive number means forward rotation, negative number means backward rotation, 0 means stop
Return value: None.
xxxxxxxxxxCtrl_Car(motor_id, motor_dir, motor_speed):
Parameter explanation: Control the forward and reverse rotation and speed of the motor. You need to use an additional judgment parameter to control the forward and reverse rotation
motor_id=[1,4]: 1: M1 motor, 2: M2 motor, 3: M3 motor, 4: M4 motor
motor_dir=[0,1]: 0: forward rotation, 1: reverse rotation
motor_speed=[0,255], the larger the value, the faster the motor speed, 0 means stop.
Return value: None.
Source code path: project_demo\03.Basic_car_course
4. Experimental phenomenon
Turn on the robot, open the computer browser to enter the Jupyter lab editor
Enter the source code path and double-click the code to be run
Restart the kernel and clear all outputs
Click the first code block, then click the run button to start running one by one
After the program runs, as the code blocks run, we can control the speed and forward and reverse rotation of the motor.