Люди добрые помогите пли..............з. Есть двухканальный драйвер моторов VNH2SP30, два мотора, аналоговый джойстик с двумя осями и кнопкой. Вопрос? Как это все соединить вместе
Код (Text): /* MonsterMoto Shield Example Sketch date: 5/24/11 code by: Jim Lindblom hardware by: Nate Bernstein SparkFun Electronics This is really simple example code to get you some basic functionality with the MonsterMoto Shield. The MonsterMote uses two VNH2SP30 high-current full-bridge motor drivers. Use the motorGo(uint8_t motor, uint8_t direct, uint8_t pwm) function to get motors going in either CW, CCW, BRAKEVCC, or BRAKEGND. Use motorOff(int motor) to turn a specific motor off. The motor variable in each function should be either a 0 or a 1. pwm in the motorGo function should be a value between 0 and 255. This code is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round! Distributed as-is; no warranty is given. */ #define BRAKEVCC 0 #define CW 1 #define CCW 2 #define BRAKEGND 3 #define CS_THRESHOLD 100 /* VNH2SP30 pin definitions xxx[0] controls '1' outputs xxx[1] controls '2' outputs */ int inApin[2] = {7, 4}; // INA: Clockwise input int inBpin[2] = {8, 9}; // INB: Counter-clockwise input int pwmpin[2] = {5, 6}; // PWM input int cspin[2] = {2, 3}; // CS: Current sense ANALOG input //int enpin[2] = {0, 1}; // EN: Status of switches output (Analog pin) int statpin = 13; void setup() { Serial.begin(9600); pinMode(statpin, OUTPUT); // Initialize digital pins as outputs for (int i=0; i<2; i++) { pinMode(inApin[i], OUTPUT); pinMode(inBpin[i], OUTPUT); pinMode(pwmpin[i], OUTPUT); } // Initialize braked for (int i=0; i<2; i++) { digitalWrite(inApin[i], LOW); digitalWrite(inBpin[i], LOW); } //TCCR0B = TCCR0B & B11111000 | B00000001; // Таймер 0 делитель 1 для частоты ШИМ 62500.00 Hz TCCR0B = TCCR0B & B11111000 | B00000010; // Таймер 0 делитель 8 для частоты ШИМ 7812.50 Hz // TCCR0B = TCCR0B & B11111000 | B00000011; // Таймер 0 делитель 64 для частоты ШИМ 976.56 Hz (По умолчанию) //TCCR0B = TCCR0B & B11111000 | B00000100; // Таймер 0 делитель 256 для частоты ШИМ 244.14 Hz //TCCR0B = TCCR0B & B11111000 | B00000101; // Таймер 0 делитель 1024 для частоты ШИМ 61.04 Hz } void loop() { delay(1000); { for(int i=0; i<255; i++) { motorGo(0, CCW, i); motorGo(1, CW, i); delay(3000); } delay(500); for(int i=255;i>0;i--){ motorGo(0, CCW, i); motorGo(1, CW, i); delay(3000); } motorOff(0); motorOff(1); if ((analogRead(cspin[0]) < CS_THRESHOLD) && (analogRead(cspin[1]) < CS_THRESHOLD)) digitalWrite(statpin, HIGH); } delay(1000); { for(int i=0; i<255; i++){ motorGo(0, CW, i); motorGo(1, CCW, i); delay(3000); } delay(500); for(int i=255;i>0;i--){ motorGo(0, CW, i); motorGo(1, CCW, i); delay(3000); } motorOff(0); motorOff(1); if ((analogRead(cspin[0]) < CS_THRESHOLD) && (analogRead(cspin[1]) < CS_THRESHOLD)) digitalWrite(statpin, HIGH); } delay(1000); } void motorOff(int motor) { // Initialize braked for (int i=0; i<2; i++) { digitalWrite(inApin[i], LOW); digitalWrite(inBpin[i], LOW); } analogWrite(pwmpin[motor], 0); } /* motorGo() will set a motor going in a specific direction the motor will continue going in that direction, at that speed until told to do otherwise. motor: this should be either 0 or 1, will selet which of the two motors to be controlled direct: Should be between 0 and 3, with the following result 0: Brake to VCC 1: Clockwise 2: CounterClockwise 3: Brake to GND pwm: should be a value between ? and 1023, higher the number, the faster it'll go */ void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm) { if (motor <= 1) { if (direct <=4) { // Set inA[motor] if (direct <=1) digitalWrite(inApin[motor], HIGH); else digitalWrite(inApin[motor], LOW); // Set inB[motor] if ((direct==0)||(direct==2)) digitalWrite(inBpin[motor], HIGH); else digitalWrite(inBpin[motor], LOW); analogWrite(pwmpin[motor], pwm); } } } Вот код. Моторы плавно разгоняются и останавливаются в обе стороны. Но как управлять ими с помощью джойстика? Если возможно подскажите.
