树莓派4B改装RC玩具车玩转opencv系列教程（三）树莓派通过L298N控制电机

材料

如下图所示L298N

关于L298N芯片的详解可以参见这篇帖子，本文就不详细叙述了。L298N电机驱动模块详解

引脚接线图

L298N	树莓派
ENA	GPIO25
IN1	GPIO23
IN2	GPIO24
GND	GND

L298N	电机
OUT1	电机正极
OUT2	电机负极

L298N	7.4V电池
+12V	电池正极
GND	电池负极

源代码

代码是从https://github.com/jumejume1/pi-l298n-dc-motor下载的。源代码是在python2.x下编写的。直接运行会报错，将代码内的raw_input() 替换后为input（） 后即可在python3下正常运行。下面为改正后的代码,可以直接运行。

# Python Script
# https://www.electronicshub.org/raspberry-pi-l298n-interface-tutorial-control-dc-motor-l298n-raspberry-pi/

import RPi.GPIO as GPIO          
from time import sleep

in1 = 24
in2 = 23
en = 25
temp1=1

GPIO.setmode(GPIO.BCM)
GPIO.setup(in1,GPIO.OUT)
GPIO.setup(in2,GPIO.OUT)
GPIO.setup(en,GPIO.OUT)
GPIO.output(in1,GPIO.LOW)
GPIO.output(in2,GPIO.LOW)
p=GPIO.PWM(en,1000)

p.start(25)
print("\n")
print("The default speed & direction of motor is LOW & Forward.....")
print("r-run s-stop f-forward b-backward l-low m-medium h-high e-exit")
print("\n")    

while(1):

    x=input()
    
    if x=='r':
        print("run")
        if(temp1==1):
         GPIO.output(in1,GPIO.HIGH)
         GPIO.output(in2,GPIO.LOW)
         print("forward")
         x='z'
        else:
         GPIO.output(in1,GPIO.LOW)
         GPIO.output(in2,GPIO.HIGH)
         print("backward")
         x='z'


    elif x=='s':
        print("stop")
        GPIO.output(in1,GPIO.LOW)
        GPIO.output(in2,GPIO.LOW)
        x='z'

    elif x=='f':
        print("forward")
        GPIO.output(in1,GPIO.HIGH)
        GPIO.output(in2,GPIO.LOW)
        temp1=1
        x='z'

    elif x=='b':
        print("backward")
        GPIO.output(in1,GPIO.LOW)
        GPIO.output(in2,GPIO.HIGH)
        temp1=0
        x='z'

    elif x=='l':
        print("low")
        p.ChangeDutyCycle(25)
        x='z'

    elif x=='m':
        print("medium")
        p.ChangeDutyCycle(50)
        x='z'

    elif x=='h':
        print("high")
        p.ChangeDutyCycle(75)
        x='z'
     
    
    elif x=='e':
        GPIO.cleanup()
        print("GPIO Clean up")
        break
    
    else:
        print("<<<  wrong data  >>>")
        print("please enter the defined data to continue.....")

效果演示

参考文献

Raspberry Pi How to Control a DC Motor With an L298N Driverhttps://www.youtube.com/watch?v=2bganVdLg5Q