Notizen
Channel 2 für geschwindigkeit channel 1 für links und rechts
#include <AFMotor.h> AF_DCMotor motor1(1, MOTOR12_64KHZ); erzeuge objekt motor an AF_DCMotor motor2(2, MOTOR12_64KHZ); erzeuge objekt motor an AF_DCMotor motor3(3, MOTOR12_64KHZ); erzeuge objekt motor an int PWM_PIN22 = 17; Define Digital PIN int PWM_PIN18 = 18; Define Digital PIN int PWM_PIN19 = 19; Define Digital PIN int PWM_PIN20 = 20; Define Digital PIN int PWM_PIN21 = 21; Define Digital PIN
void setup() {
pinMode(PWM_PIN18, OUTPUT); pinMode(PWM_PIN19, INPUT); pinMode(PWM_PIN20, INPUT); pinMode(PWM_PIN21, INPUT); pinMode(PWM_PIN22, INPUT); Serial.begin(115200);
}
void loop() { Serial.print(„tick“); int pwm1 = pulseIn(PWM_PIN19, HIGH); Read PWM Pulse int pwm2 = pulseIn(PWM_PIN20, HIGH); Read PWM Pulse int pwm3 = pulseIn(PWM_PIN21, HIGH); Read PWM Pulse
int maehen = pulseIn(PWM_PIN22, HIGH); Read PWM Pulse int maehen = digitalRead(PWM_PIN22); Read PWM Pulse int a = pulseToPWM(pwm1); -1*(499-(pwm1-996))/2; int b = pulseToPWM(pwm2); int c = pulseToPWM(pwm3); int c = 499-(pwm3-996); int d = 499-(maehen-996); int d = pulseToPWM(maehen);
Serial.print(„PWM CH1: “); Serial.print(a); Serial.print(„ PWM CH2: “); Serial.print(b); Serial.print(„ PWM CH3: “); Serial.println©;
Serial.print(" PWM maehen: ");
Serial.println(maehen);
if (a>0) {
motor1.run(FORWARD); motor1.setSpeed(abs(a));
} else if (a<0) {
motor1.run(BACKWARD); motor1.setSpeed(abs(a));
} else {
motor1.run(RELEASE); // Motor stopp
}
if (b>0) {
motor2.run(FORWARD); motor2.setSpeed(abs(b));
} else if (b<0) {
motor2.run(BACKWARD); motor2.setSpeed(abs(b));
} else {
motor2.run(RELEASE); // Motor stopp
}
if (d>0){
motor3.run(BACKWARD); motor3.setSpeed(d);
}else {
motor3.run(RELEASE); // Motor stopp
}
}
int pulseToPWM(int pulse) {
const int deadzone = 10; const int hlevel = 1998; höchste gelieferte Frequenz const int llevel = 996; niedrigste gelieferte Frequenz const int glevel = 255; Grenzlevel für Ergebnis if (pulse > 100) { nur Werte > 100 verwerten, andere sind Störung oder Sender off
pulse = map(pulse, llevel, hlevel, -500, 500); Ausgabewertebereich verschieben pulse = constrain(pulse, -glevel, glevel); und jetzt noch begrenzen } else {
pulse = 0; keine sinnvollen Impulse } Ruhezone einrichten if (abs(pulse) ⇐ deadzone) { pulse = 0; }
return pulse; }
https://learn.adafruit.com/adafruit-motor-shield/af-dcmotor-class https://www.halloweenfreak.de/arduino/pdfs/motor_shield.pdf
PWM Output Sketch
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Arduino FS-I6X Demo C++ /*
Arduino FS-I6X Demo fsi6x-arduino-uno.ino Read output ports from FS-IA6B receiver module Display values on Serial Monitor Channel functions by Ricardo Paiva - https://gist.github.com/werneckpaiva/ DroneBot Workshop 2021 https://dronebotworkshop.com
*/
Define Input Connections #define CH1 3 #define CH2 5 #define CH3 6 #define CH4 9 #define CH5 10 #define CH6 11 Integers to represent values from sticks and pots int ch1Value; int ch2Value; int ch3Value; int ch4Value; int ch5Value;
Boolean to represent switch value bool ch6Value; Read the number of a specified channel and convert to the range provided. If the channel is off, return the default value int readChannel(int channelInput, int minLimit, int maxLimit, int defaultValue){ int ch = pulseIn(channelInput, HIGH, 30000); if (ch < 100) return defaultValue; return map(ch, 1000, 2000, minLimit, maxLimit); } Read the switch channel and return a boolean value bool readSwitch(byte channelInput, bool defaultValue){
int intDefaultValue = (defaultValue)? 100: 0; int ch = readChannel(channelInput, 0, 100, intDefaultValue); return (ch > 50);
}
void setup(){
// Set up serial monitor Serial.begin(115200); // Set all pins as inputs pinMode(CH1, INPUT); pinMode(CH2, INPUT); pinMode(CH3, INPUT); pinMode(CH4, INPUT); pinMode(CH5, INPUT); pinMode(CH6, INPUT);
}
void loop() {
// Get values for each channel
ch1Value = readChannel(CH1, -100, 100, 0);
ch2Value = readChannel(CH2, -100, 100, 0);
ch3Value = readChannel(CH3, -100, 100, -100);
ch4Value = readChannel(CH4, -100, 100, 0);
ch5Value = readChannel(CH5, -100, 100, 0);
ch6Value = readSwitch(CH6, false);
// Print to Serial Monitor
Serial.print("Ch1: ");
Serial.print(ch1Value);
Serial.print(" | Ch2: ");
Serial.print(ch2Value);
Serial.print(" | Ch3: ");
Serial.print(ch3Value);
Serial.print(" | Ch4: ");
Serial.print(ch4Value);
Serial.print(" | Ch5: ");
Serial.print(ch5Value);
Serial.print(" | Ch6: ");
Serial.println(ch6Value);
delay(500);
}
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Arduino Mega 2560 Hookup
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Code The Code for the Arduino RC Car arduino Again, try to understand how it works!
