Romeo BLE Quad-drive

产品名称(300px)
目录

1 简介
2 产品参数
3 引脚说明
4 使用教程

4.1 准备
4.2 接线图
4.3 样例代码
4.4 结果

5 协议说明
6 疑难解答
7 更多

简介
Romeo BLE Quad-drive是基于ARM处理器兼容Arduino接口的开源平台。一款集成了蓝牙4.0通信模块和ST公司的32位 STM32F103RET6微处理器。可以通过蓝牙无线控制Romeo BLE Quad-drive，从而控制Romeo BLE Quad-drive上的直流电机。Romeo BLE Quad-drive最多可支持4路直流电机，采用PID调速，采用正交编码器可测每个电机运行速度，同时也可测得每个电机运行圈数。

产品参数
微控制器：STM32 F103RET6
工作电压：5-10V
直流电机：4路
控制方式：PID控制
数字IO： 10
模拟输入：5
尺寸： 67mm*37mm

引脚说明

使用教程
本教程主要介绍如何使用PID调速。

准备

硬件
Romeo BLE Quad-drive x1
微型直流带编码器L型减速电机 x4
杜邦线 若干

软件
Arduino IDE 版本 需支持Bluno M3版本 下载Ardunio IDE 让ARDUINO1.6.5及其以上版本支持Bluno M3教程

接线图

注：本图只以M4为例子，其他M1、M2、M3的连接方式和M4是相同的

样例代码

点击下载库文件例程和Motor.h库文件和PID_V1.h库文件

/*!

• @file Motor.cpp
• @brief Motor.cpp Interrupted function deployment, encoder motor configurations and corresponding PWM soft function
• Motor.cpp Corresponds to a set of orthogonal codes for each motor and PWM.

•           Implements timer 5 implementation of PWM, timer every 3.9 μs (1/256 MS) into an interruption.
  

• @author linfeng(490289303@qq.com)
• @version V1.0
• @date 2016-3-2
  */
  #include "PID_v1.h"
  #include "Motor.h"

Motor motor[4];
int motorSpeed[4] = {100,200,200,100};/Set 4 speed motor/
const int motorDirPin[4][2] = { //Forward, Backward
/Motor-driven IO ports/
{8,23},
{7,9},
{24,14},
{4,25}
};

//const double motorPidParam[3]={0.6,1,0.03};/DC MOTOR,Yellow??180degree/
const double motorPidParam[3]={1.5,1,0.05};/DC MOTOR,Yellow??90 degree/

void setup( void )
{
Serial1.begin(115200);
Serial1.println("setup begin:");
for(int i=0;i<4;i++){
motor[i].setPid(motorPidParam[

void loop( void )
{
for(int i = 0; i < 4; i++){
motor[i].calibrate();/motor PID calibrate/
}

}
/****************************************************************************** Copyright (C) <2016> <linfeng>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Contact: 490289303@qq.com
******************************************************************************/

结果

电机按照设置的速度和方向运行。

协议说明

疑难解答

问：

答：

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更多

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