目录
单片机引脚的电流一般只有几十个毫安,无法驱动电机,通常使用单片机控制电机驱动芯片进而控制电机
模块简介
TB6612FNG是东芝半导体的一款驱动电机的IC。一个TB6612FNG可以驱动两个电机,每一个驱动都有两个逻辑输入引脚,一个PWM引脚和两个输出引脚。可以通过给两个逻辑输入引脚不同的电平来控制电机的运行状态,通过PWM输入引脚实现电机调速。
硬件特性
注意:电源电压+PWM频率的范围
模块接线
引脚 | 定义 | |
---|---|---|
VM | 驱动电压输人端(4.5-10V) | |
VCC | 逻辑电平输人端(2.7-5.5V) | |
GND | 电源地端 | |
STBY | 正常工作/待机状态控制输入端 | |
1路电机 | PWMA | PWM信号输入端 |
AIN1 | 电机控制模式输入端 | |
AIN2 | ||
A01 | 电机驱动输出端 | |
A02 | ||
2路电机 | PWMB | PWM信号输入端 |
BIN1 | 电机控制模式输入端 | |
BIN2 | ||
B01 | 电机驱动输出端 | |
B02 |
STBY引脚可以理解为此驱动器的总开关,高电平的情况下驱动器才可以正常工作,当STBY为低电平的时候,整个驱动器停止工作。
本实验主要的接线
STBY | 3.3V |
PWMA | PA2 |
A01 | PA4 |
A02 | PA5 |
控制信号
AIN1/BIN1 | AIN2/BIN2 | 模式状态 |
0 | 0 | 停止 |
0 | 1 | 正转 |
1 | 0 | 反转 |
参考:
驱动代码
PWM.h
#ifndef __PWM_H_
#define __PWM_H_
void PWM_Init(void);
void PWM_SetCompare3(uint16_t Compare3);
#endif
PWM.c
#include "stm32f10x.h" // Device header
#include "PWM.h"
void PWM_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PWM
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_InternalClockConfig(TIM2);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARR
TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1; //PSC
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0; //CCR
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
}
void PWM_SetCompare3(uint16_t Compare3)
{
TIM_SetCompare3(TIM2, Compare3);
}
Tb6612.h
#ifndef __MOTOR_H
#define __MOTOR_H
void Tb6612Motor_Init(void);
void Tb6612Motor_SetSpeed(int8_t Speed);
#endif
Tb6612.c
#include "stm32f10x.h" // Device header
#include "PWM.h"
#include "Tb6612.h"
void Tb6612Motor_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
PWM_Init();
}
void Tb6612Motor_SetSpeed(int8_t Speed)
{
if (Speed >= 0)
{
GPIO_SetBits(GPIOA, GPIO_Pin_4);
GPIO_ResetBits(GPIOA, GPIO_Pin_5);
PWM_SetCompare3(Speed);
}
else
{
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
GPIO_SetBits(GPIOA, GPIO_Pin_5);
PWM_SetCompare3(-Speed);
}
}
main.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Key.h"
#include "Tb6612.h"
uint8_t KeyNum;
int8_t Compare=0;
int main(void)
{
OLED_Init();
Key_Init();
Tb6612Motor_Init();
OLED_ShowString(1,1,"Motor:+000");
while (1)
{
KeyNum=Key_GetNum();
if(KeyNum==1)
{
Compare+=30;
if(Compare>60)
{
Compare=-60;
}
OLED_ShowSignedNum(1,7,Compare,3);
Tb6612Motor_SetSpeed(Compare);
}
}
}
参考手册:
译文版
TB6612FNG (waveshare.net)https://www.waveshare.net/w/upload/3/36/TB6612FNG_datasheet_zh_cn.pdf