Имется MEGA + мотор шилд помогите модифицировать библиотеку управления . Конкретно надо заставит выдавать шим 20кгц на pin 9,10 в библиотеке это сделано для pin 3,5 Исходники: Код (C++): #include "DualVNH5019MotorShieldMega.h" // Constructors //////////////////////////////////////////////////////////////// DualVNH5019MotorShield::DualVNH5019MotorShield() { //Pin map _INA1 = 2; _INB1 = 4; _EN1DIAG1 = 6; _CS1 = A0; _INA2 = 7; _INB2 = 8; _EN2DIAG2 = 5; _CS2 = A1; } DualVNH5019MotorShield::DualVNH5019MotorShield(unsigned char INA1, unsigned char INB1, unsigned char EN1DIAG1, unsigned char CS1, unsigned char INA2, unsigned char INB2, unsigned char EN2DIAG2, unsigned char CS2) { //Pin map //PWM1 and PWM2 cannot be remapped because the library assumes PWM is on timer1 _INA1 = INA1; _INB1 = INB1; _EN1DIAG1 = EN1DIAG1; _CS1 = CS1; _INA2 = INA2; _INB2 = INB2; _EN2DIAG2 = EN2DIAG2; _CS2 = CS2; } // Public Methods ////////////////////////////////////////////////////////////// void DualVNH5019MotorShield::init() { // Define pinMode for the pins and set the frequency for timer1. pinMode(_INA1,OUTPUT); pinMode(_INB1,OUTPUT); pinMode(_PWM1,OUTPUT); pinMode(_EN1DIAG1,INPUT); pinMode(_CS1,INPUT); pinMode(_INA2,OUTPUT); pinMode(_INB2,OUTPUT); pinMode(_PWM2,OUTPUT); pinMode(_EN2DIAG2,INPUT); pinMode(_CS2,INPUT); #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) // Timer 1 configuration // prescaler: clockI/O / 1 // outputs enabled // phase-correct PWM // top of 400 // // PWM frequency calculation // 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz TCCR1A = 0b10100000; TCCR1B = 0b00010001; ICR1 = 400; #endif #if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Mega board specific stuff here - assumes assigning timer3, using pins 3 &5 TCCR1A = 0b10100000; // Mega pin 5 TCCR1B = 0b00010001; // Mega pin 3 ICR1 = 400; // defined=400 #endif } // Set speed for motor 1, speed is a number betwenn -400 and 400 void DualVNH5019MotorShield::setM1Speed(int speed) { unsigned char reverse = 0; if (speed < 0) { speed = -speed; // Make speed a positive quantity reverse = 1; // Preserve the direction } if (speed > 400) // Max PWM dutycycle speed = 400; #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) OCR1A = speed; #elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Mega board specific stuff here - assumes assigning timer3, using pins 3 &5 OCR1A = speed; #else analogWrite(_PWM1,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255 #endif if (reverse) { digitalWrite(_INA1,LOW); digitalWrite(_INB1,HIGH); } else { digitalWrite(_INA1,HIGH); digitalWrite(_INB1,LOW); } } // Set speed for motor 2, speed is a number betwenn -400 and 400 void DualVNH5019MotorShield::setM2Speed(int speed) { unsigned char reverse = 0; if (speed < 0) { speed = -speed; // make speed a positive quantity reverse = 1; // preserve the direction } if (speed > 400) // Max speed = 400; #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) OCR1B = speed; #elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Mega board specific stuff here - assumes assigning timer3, using pins 3 &5 OCR1B = speed; #else analogWrite(_PWM2,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255 #endif if (reverse) { digitalWrite(_INA2,LOW); digitalWrite(_INB2,HIGH); } else { digitalWrite(_INA2,HIGH); digitalWrite(_INB2,LOW); } } // Set speed for motor 1 and 2 void DualVNH5019MotorShield::setSpeeds(int m1Speed, int m2Speed) { setM1Speed(m1Speed); setM2Speed(m2Speed); } // Brake motor 1, brake is a number between 0 and 400 void DualVNH5019MotorShield::setM1Brake(int brake) { // normalize brake if (brake < 0) { brake = -brake; } if (brake > 400) // Max brake brake = 400; digitalWrite(_INA1, LOW); digitalWrite(_INB1, LOW); #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) OCR1A = brake; #elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Mega board specific stuff here - assumes assigning timer3, using pins 3 &5 OCR1A = brake; #else analogWrite(_PWM1,brake * 51 / 80); // default to using analogWrite, mapping 400 to 255 #endif } // Brake motor 2, brake is a number between 0 and 400 void DualVNH5019MotorShield::setM2Brake(int brake) { // normalize brake if (brake < 0) { brake = -brake; } if (brake > 400) // Max brake brake = 400; digitalWrite(_INA2, LOW); digitalWrite(_INB2, LOW); #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) OCR1B = brake; #elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) // Mega board specific stuff here - assumes assigning timer3, using pins 3 &5 OCR1B = brake; #else analogWrite(_PWM2,brake * 51 / 80); // default to using analogWrite, mapping 400 to 255 #endif } // Brake motor 1 and 2, brake is a number between 0 and 400 void DualVNH5019MotorShield::setBrakes(int m1Brake, int m2Brake) { setM1Brake(m1Brake); setM2Brake(m2Brake); } // Return motor 1 current value in milliamps. unsigned int DualVNH5019MotorShield::getM1CurrentMilliamps() { // 5V / 1024 ADC counts / 144 mV per A = 34 mA per count return analogRead(_CS1) * 34; } // Return motor 2 current value in milliamps. unsigned int DualVNH5019MotorShield::getM2CurrentMilliamps() { // 5V / 1024 ADC counts / 144 mV per A = 34 mA per count return analogRead(_CS2) * 34; } // Return error status for motor 1 unsigned char DualVNH5019MotorShield::getM1Fault() { return !digitalRead(_EN1DIAG1); } // Return error status for motor 2 unsigned char DualVNH5019MotorShield::getM2Fault() { return !digitalRead(_EN2DIAG2); }
попробуйте строки OCR1B = speed; и OCR1A = speed; Поменять на analogWrite(9,speed *51/80); и analogWrite(10,speed *51/80); Ну и ещё OCR1A = brake; и OCR1B = brake; по такому же прицыпу. Вообще практически вся библиотека построена на работе с регистрами. Поэтому не знаю, можно ли просто заменить код. Возможно код выполнится один раз и всё. Не знаю, как тут относятся к ссылкам на сторонние ресурсы, если что извеняйте. http://arduino.ru/forum/programmirovanie/etyudy-dlya-nachinayushchikh-blink-i-bez-delay-i-bez-millis
