3PA三轮机器人

             功能介绍

3PA小车平台的组装非常容易，只需要按照以下步骤一步步安装就行了。

STEP1：组装小车
参照安装说明。
注意事项：

1. 在安装说明中没有说明电机电源线连接，建议安装前先将电机的电源线焊接好。便于之后安装。

2. 安装完底盘之后，按下图连接电机线和电源线。

电机连接
实物图

STEP2：调试电机
下载电机调试代码

int speedPin_M1 = 5; //M1 Speed Control
int speedPin_M2 = 6; //M2 Speed Control
int directionPin_M1 = 4; //M1 Direction Control
int directionPin_M2 = 7; //M1 Direction Control

void setup(){

}

void loop(){
carAdvance(100,100);
delay(1000);
carBack(100,100);
delay(1000);
carTurnLeft(250,250);
delay(1000);
carTurnRight(250,250);
delay(1000);
}

void carStop(){ // Motor Stop
digitalWrite(speedPin_M2,0);
digitalWrite(directionPin_M1,LOW);
digitalWrite(speedPin_M1,0);
digitalWrite(directionPin_M2,LOW);
}

void carAdvance(int leftSpeed,int rightSpeed){ //Move forward
analogWrite (speedPin_M2,leftSpeed); //PWM Speed Control
digitalWrite(directionPin_M1,HIGH);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,HIGH);
}

void carBack(int leftSpeed,int rightSpeed){ //Move backward
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M1,LOW);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,LOW);
}

void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M1,LOW);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,HIGH);
}
void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M1,HIGH);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M2,LOW);
}

上电后发现，如果发现效果与代码不匹配，可以对代码做一下微调整。直到匹配为止，才进行下一步。