//********************TB6612**************//
#define L298N_1 26 //电机引脚0
#define L298N_2 27 //电机引脚0
#define L298N_3 12 //电机引脚0
#define L298N_4 13 //电机引脚0
const int PWM1 = 19; // 连接LED的GPIO 19
const int freq1 = 50; // 设置PWM的频率
const int ledChannel1 = 0; // 设置PWM的通道
const int resolution1 = 8; // 设置PWM 占空比的分辨率 最大占空比为 2^8 = 256
const int PWM2 = 18; // 连接LED的GPIO 16
const int freq2 = 50; // 设置PWM的频率
const int ledChannel2 = 1; // 设置PWM的通道
const int resolution2 = 8; // 设置PWM 占空比的分辨率 最大占空比为 2^8 = 256
#define STOP 0 //停止
#define RUN 1 //前进
#define BACK 2 //后退
#define LEFT 3 //左转
#define RIGHT 4 //右转
void setup()
{
// 以每秒9600位的速度初始化串行通信。
Serial.begin(9600);
//********************TB6612**************//
pinMode(L298N_1, OUTPUT);
pinMode(L298N_2, OUTPUT);
pinMode(L298N_3, OUTPUT);
pinMode(L298N_4, OUTPUT);
Serial.println("init ok");
// PWM1初始化
ledcSetup(ledChannel1, freq1, resolution1);
// 绑定PWM1通道到GPIO上
ledcAttachPin(PWM1, ledChannel1);
// PWM2初始化
ledcSetup(ledChannel2, freq2, resolution2);
// 绑定PWM2通道到GPIO上
ledcAttachPin(PWM2, ledChannel2);
}
void loop()
{
}
void Work(int c,int value1, int value2)
{
ledcWrite(ledChannel1, value1);
ledcWrite(ledChannel2, value2);
switch(c)
{
case RUN:
//Serial.println("RUN"); //前进输出状态
digitalWrite(L298N_1, 1); //左边前进
digitalWrite(L298N_2, 0);
digitalWrite(L298N_3, 0); //右边前进
digitalWrite(L298N_4, 1);
break;
case BACK:
Serial.println("BACK"); //后退输出状态
digitalWrite(L298N_1, 0);
digitalWrite(L298N_2, 1);
digitalWrite(L298N_3, 1);
digitalWrite(L298N_4, 0);
break;
case LEFT:
Serial.println("LEFT"); //左转输出状态
digitalWrite(L298N_1, 1); //左边后退
digitalWrite(L298N_2, 0);
digitalWrite(L298N_3, 1); //右边前进
digitalWrite(L298N_4, 0);
break;
case RIGHT:
Serial.println("RIGHT"); //右转弯输出状态
digitalWrite(L298N_1, 0); //左边前进
digitalWrite(L298N_2, 1);
digitalWrite(L298N_3, 0); //右边后退
digitalWrite(L298N_4, 1);
break;
default:
Serial.println("STOP"); //停止输出状态
digitalWrite(L298N_1, 1);
digitalWrite(L298N_2, 1);
digitalWrite(L298N_3, 1);
digitalWrite(L298N_4, 1);
}
}
ESP32 智能车
于 2023-03-03 21:36:19 首次发布