Motor

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시환 삼
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1 Interactive Workshop for Artists & Designers Earl Park

2 Motor

4 Servo Motor Control #include <Servo.h> Servo myservo; // create servo object to control a servo int potpin = 0; // analog pin used to connect the potentiometer int val; // variable to read the value from the analog pin int ang; myservo.attach(9); // attaches the servo on pin 9 to the servo object val = analogread(potpin); //reads the value of the potentiometer ang = map(val, 0, 1023, 0, 179); // scale it to use it with the servo (value between 0 and 180) myservo.write(ang); // sets the servo position according to the scaled value delay(10); // waits for the servo to get there

7 const int enablepin = 6; // H-bridge enable pin const int motor1pin = 7; // H-bridge leg 1 (pin 2, 1A) const int motor2pin = 8; // H-bridge leg 2 (pin 7, 2A) Serial.begin(9600); Serial.println("+ - to set direction, any other key stops motor"); // set all the other pins you're using as outputs: pinmode(motor1pin, OUTPUT); pinmode(motor2pin, OUTPUT); pinmode(enablepin, OUTPUT); // set enablepin high so that motor can turn on: digitalwrite(enablepin, HIGH); if( Serial.available()) { char ch = Serial.read(); if(ch == '+'){ Serial.println("cw"); digitalwrite(motor1pin, LOW); // set leg 1 of the H-bridge low digitalwrite(motor2pin, HIGH); // set leg 2 of the H-bridge high else if(ch == '-'){ Serial.println("ccw"); digitalwrite(motor1pin, HIGH); // set leg 1 of the H-bridge high digitalwrite(motor2pin, LOW); // set leg 2 of the H-bridge low else{ Serial.println("stop motor"); digitalwrite(motor1pin, LOW); // set leg 1 of the H-bridge low digitalwrite(motor2pin, LOW); // set leg 2 of the H-bridge low

8 const int enablepin = 6; // H-bridge enable pin const int motor1pin = 7; // H-bridge leg 1 (pin 2, 1A) const int motor2pin = 8; // H-bridge leg 2 (pin 7, 2A) Serial.begin(9600); Serial.println("+ - to set direction, any other key stops motor"); pinmode(motor1pin, OUTPUT); pinmode(motor2pin, OUTPUT); pinmode(enablepin, OUTPUT); if( Serial.available()) { char ch = Serial.read(); if (isdigit (ch)){ // if ch is a number... int speed = map(ch, '0', '9', 0, 255); analogwrite(enablepin, speed); Serial.println(speed); else if(ch == '+'){ Serial.println("cw"); digitalwrite(motor1pin, LOW); // set leg 1 of the H-bridge low digitalwrite(motor2pin, HIGH); // set leg 2 of the H-bridge high else if(ch == '-'){ Serial.println("ccw"); digitalwrite(motor1pin, HIGH); // set leg 1 of the H-bridge high digitalwrite(motor2pin, LOW); // set leg 2 of the H-bridge low else{ Serial.println("Unexpected character"); Serial.println(ch);

const int switchpin = 2; // switch input const int enablepin = 6; // H-bridge enable pin const int motor1pin = 7; // H-bridge leg 1 (pin 2, 1A) const int motor2pin = 8; // H-bridge leg 2 (pin 7, 2A)

9 const int switchpin = 2; // switch input const int enablepin = 6; // H-bridge enable pin const int motor1pin = 7; // H-bridge leg 1 (pin 2, 1A) const int motor2pin = 8; // H-bridge leg 2 (pin 7, 2A) // set the switch as an input: pinmode(switchpin, INPUT); // set all the other pins you're using as outputs: pinmode(motor1pin, OUTPUT); pinmode(motor2pin, OUTPUT); pinmode(enablepin, OUTPUT); // set enablepin high so that motor can turn on: digitalwrite(enablepin, HIGH); // if the switch is high, motor will turn on one direction: if (digitalread(switchpin) == HIGH) { digitalwrite(motor1pin, LOW); // set leg 1 of the H-bridge low digitalwrite(motor2pin, HIGH); // set leg 2 of the H-bridge high else { // if the switch is low, motor will turn in the other direction: digitalwrite(motor1pin, HIGH); // set leg 1 of the H-bridge high digitalwrite(motor2pin, LOW); // set leg 2 of the H-bridge low

10 const int switchpin = 2; // switch input const int potpin = 5; // analog input const int enablepin = 6; // H-bridge enable pin const int motor1pin = 7; // H-bridge leg 1 (pin 2, 1A) const int motor2pin = 8; // H-bridge leg 2 (pin 7, 2A) // set the switch as an input: pinmode(switchpin, INPUT); // set all the other pins you're using as outputs: pinmode(motor1pin, OUTPUT); pinmode(motor2pin, OUTPUT); pinmode(enablepin, OUTPUT); int speed = analogread(potpin) / 4; boolean reverse = digitalread(switchpin); setmotor(speed, reverse); void setmotor(int speed, boolean reverse) { analogwrite(enablepin, speed); digitalwrite(motor1pin,! reverse); digitalwrite(motor2pin, reverse);

$const int leftsensorpin = 0; // analog input const int rightsensorpin = 1; // analog input int leftpins[] = {6, 7, 8, rightpins[] = {11, 10, 9; int Min_pwm = 32, Max_pwm = 255; int sensorthreshold =$

11 const int leftsensorpin = 0; // analog input const int rightsensorpin = 1; // analog input int leftpins[] = {6, 7, 8, rightpins[] = {11, 10, 9; int Min_pwm = 32, Max_pwm = 255; int sensorthreshold = 0; Serial.begin(9600); for (int i = 0; i < 3; i++) { pinmode(leftpins[i], OUTPUT); pinmode(rightpins[i], OUTPUT); int leftval = analogread(leftsensorpin); int rightval = analogread(rightsensorpin); if (sensorthreshold == 0) { sensorthreshold = ((leftval + rightval) / ); setspeed(leftpins, leftval, map(leftval, 0, 1023, Min_pwm, Max_pwm)); setspeed(rightpins, rightval, map(rightval, 0, 1023, Min_pwm, Max_pwm)); Serial.print(leftVal); Serial.print(" + "); Serial.print(sensorThreshold); Serial.print(" + "); Serial.println(rightVal); void setspeed(int pins[], int val, int speed) { if (sensorthreshold < val) { digitalwrite(pins[1], HIGH); digitalwrite(pins[2], LOW); else { digitalwrite(pins[1], LOW); digitalwrite(pins[2], HIGH); analogwrite(pins[0], speed);

슬라이드 1

슬라이드 1 임베디드시스템개론 : Arduino 활용 Lecture #9: Motor 제어 2012. 5. 18 by 김영주 강의목차 소형모터개요 트랜지스터를이용한 DC 모터제어 Motor Driver IC를이용한 DC 모터제어 Servo 모터제어 2 3 1. 소형모터 (Motor) 소형모터 (1) 소형모터 전기에너지를회전운동으로변환하는장치모터소형화로다양하게응용되고있음