Kaya ndi mbewa yaying'ono ya loboti kapena chowotcha chamagetsi cha IoT, kudziwa kuwongolera zinthu ndi mota ya DC yokhala ndimakina opangira zidaimatsegula mapulojekiti ambiri a DIY kuti mukhale otanganidwa.Mu phunziro ili, tikugwiritsa ntchitola38mota controller pa amakina opangira zidakupatsa mphamvu ndikuzungulira ma motors a DC!
Thela38Motor Controller Module ndi bolodi lomwe limathandiza ma microcontrollers ndi ma microprocessors mongamakina opangira zidama motors amphamvu a DC omwe amafunikira kuposa 3.3V kapena 5V.
Amagwiritsa ntchitola38IC kuti ipangitse mphamvu zonse zomveka komanso kasamalidwe ka mphamvu zomwe zimafunikira kuyambitsa mota ndikuzipatulamakina opangira zidakuchokera pamagetsi apamwamba omwe amagwiritsidwa ntchito ku mota ya DC.
Thela38module ndiye wowongolera ma mota mu zida zoyambira za robotic chifukwa ndiyosavuta kugwiritsa ntchito.Ili ndi mitu ya pini pomwe mutha kuyika ma jumper kuti mulumikizane ndi yanumakina opangira zida.Mukhozanso kufulumizitsa kapena kuchepetsa galimotoyo pogwiritsa ntchito chizindikiro cha pulse-width modulation (PWM) pa pini yake.Pokwerera.
Malinga ndipanopas, ndila38ndi aapamwamba panopa.Ndi kwenikweni a10 ampa panopas yopangidwa ndi ma mota okhala ndi anayimasiwichi amagetsi akanthawi kukhudzana.Izi zimakulolani kuti muyike njira yomwe ilipo panopa popanda kulumikizanso galimoto.Kusintha njira ya panopa pa H-mlatho amasinthanso njira kasinthasintha galimoto.La38 ali awiri kukhudzana ulamuliro wa iwo, amene amalola kulamulira awiri Motors paokha.Ngati ndinu watsopano ku pulogalamu ya Python, musaphonye izi zothandiza Python-liners.
Mu loop kwakanthawi, zikhomo za leftForward ndi rightForward zimayamba kuyatsa kwa sekondi imodzi.Kuti muwongolere liwiro, sinthani kuzungulira kwa ntchito yoyatsa.Choyamba akhazikitseni 100% ntchito yozungulira kwa sekondi imodzi, kenako ikani 50%.Ntchito yozungulira ya 100% idzayendetsa ma motors pa liwiro lalikulu, pomwe ntchito yozungulira 50% idzayenda pa liwiro la theka.
Sungani ngati "rpi-dcmotor.py" kapena dzina lina lililonse lafayilo ngati litatha ndi ".py".Pambuyo pake, zimitsani anumakina opangira zida.
ZINDIKIRANI.Zikhomo zodumphirazi zimangolumikiza pini ya EN ku 5V, "kukulolani" kuwongolerapanopakudzera pa IN pin.Ngakhale mukuyenerabe kupereka mphamvu kudzera pa pini iyi, 5V ikhoza kuyambitsa zovuta zinamakina opangira zidamonga akuyenera kugwiritsa ntchito 3.3V m'malo mwa 5V.Komanso, kulumikiza zikhomo izi ndimakina opangira zidazikuthandizani kuti muzitha kuwongolera liwiro la ma mota pambuyo pake..
Langizo: Kuti mudziwe nambala ya pini yomwe ili panumakina opangira zida, gwirani kuti zikhomo za GPIO zili kumanja.Izi ndi ting'onoting'ono ting'onoting'ono tachitsulo titakhala pa thireyi yakuda.Ndiye ngati muyang'ana pa pin ya kumanzere kumtunda kuchokera ku tray imeneyo, ndiye pini 1. Kumanja kwake kuli pini 2. Pansi pa pini 1 pali pini 3, ndi zina zotero.
ZINDIKIRANI.Ma motors ambiri a DC nthawi zambiri amakhala ndi mawaya a solder.Mutha kuzigulitsa nokha.Gauge iliyonse idzagwira ntchito, koma waya wamkuwa wokhazikika amagwira ntchito bwino.
Mutha kuyendetsa codeyo poyendetsa script pa terminal.Koma izi zisanachitike, muyenera kuwonjezera mphamvu kula38moduli.
Thela38DC Motor Controller Module imatha kulumikizidwa kumagetsi aliwonse a DC bola mphamvuyo isapitirire 45V.Pankhani yogwiritsa ntchito, zingakhale zosavuta kugwiritsa ntchito batire ya 9V ndi pulagi ya DC yolumikizidwa ndi ma terminals amagetsi a module.
Simuyeneranso kudandaula za mabatire a 9V kuwononga anumakina opangira zida.Thela38module imagwiritsa ntchito IC yapadera yotchedwa MOSFET yomwe imagwira ntchito ngati cholumikizira champhamvu chochepa, kukhalakanthawi kamagetsisinthani yomwe imapatula mapini anu kumagetsi.
Kodi ndingatumize bwanji zapano kuchokera pa pini kuti ndipangitse injini ya DC yozungulira?Tiyeni tiwone mwatsatanetsatane momwe timapangira makina ozungulira.
Thela38motor controller module imagwiritsa ntchito zingapokanthawi kamagetsimasiwichi kuwongolera kuzungulira kwa mota.Mutha kuganiza za masiwichi ngati chosinthira khoma, kupatula ngati sagwiritsa ntchito zala zanu - amagwiritsa ntchito 3.3V kuchokera pagulu.makina opangira zida.
Ndipo ndipamene GPIO.output(, GPIO.HIGH).Ichi ndi GPIO.output(, GPIO.HIGH).Kuyika pini iyi ku GPIO.HIGH kumapangitsa pini iyi kutulutsa 3.3V.Iziyambitsa kusintha, kulola kuti madzi ayendetse ku injini.Kenako imazungulira motere.Kutembenuzira zikhomo ku GPIO.LOW kuzimitsa chosinthira, chomwe chimadula mphamvu ku mota.
Titha kusintha njira yozungulira mozungulira posintha momwe magetsi amayendera kudzera pagalimoto.Ichi ndichifukwa chake tili ndi zikhomo ziwiri zosiyana zowongolera kuzungulira kwa injini imodzi: kumbuyo ndi kutsogolo.Iwo amagwira ntchitokanthawi kamagetsimasiwichi mbali zonse za magetsi agalimoto, kuwongolera mphamvu kutsogolo kapena kumbuyo.
Zomwezo zimapitanso liwiro.Mosiyana ndi mapini akutsogolo ndi kumbuyo, pini yolumikizira imawongolera kuchuluka kwa mphamvu zomwe zikuyenda mugalimoto nthawi iliyonse.
Powonjezera mphamvu yamagetsi pakuyatsa, ma switch awo amatsegula pang'ono "okulirapo" ndikulola kuti zambiri zapano zizidutsa mugalimoto.Kuchulukitsa mphamvu zamainjini kumawapangitsa kuti azizungulira mwachangu.Kuchepa kumawapangitsa kukhala ochedwa.
Pamakina opangira zida, timagwiritsa ntchito PWM kapena Pulse Modulation kuti tiwongolere mphamvu yotulutsa zikhomo.Kuwonjezeka kwa kayendetsedwe ka ntchito kumabweretsa mphamvu yamagetsi pafupi ndi 3.3V, ndikuyichepetsa pafupi ndi 0V.
M'malo mwake, mukhoza "zimitsani” injini mwanjira ina pokhazikitsa injini imathandizira pini kukhala 0V.Ganizirani izi ngati chinthu chonga galimoto: zikhomo zimapatsa mphamvu zamagetsi zamagetsi, ndipo mapini akutsogolo ndi kumbuyo amasuntha magiya, kuwalola kupita patsogolo kapena kumbuyo.
Amasiyana malinga ndi komwe ma coil awo a solenoid ali.Galimoto ya DC brushed ili ndi koyilo pakati yomwe imazungulira pakati pa mphete ya maginito okhazikika.Ma motors a Brushless DC ali ndi zozungulira mbali inayo - ma coil awo amazungulira maginito okhazikika.
Ma motors otolera ndi otsika mtengo ndipo amachita bwino pama liwiro otsika.Komabe, amakonda kutentha mwachangu kuposa ma motors opanda brush ndipo sagwiritsa ntchito mphamvu zambiri.Kumbali ina, ma motors opanda brush amatha kuthamanga kwambiri, kutenthedwa pang'ono, ndikugwiritsa ntchito mphamvu zochepa kuti azizungulira mwachangu kuposa ma motors opukutidwa.
Ngati mukugwiritsa ntchito motere mkati mwa amakina opangira zidagiya la robotic, mota yopukutidwa iyenera kukhala yabwinoko.Komabe, ngati mukugwiritsa ntchito mota yopanda giya monga chofanizira chaching'ono chamagetsi, mota yopanda brush iyenera kukhala yabwinoko.
Ngakhale izi zitha kusiyanasiyana ndi wopanga, mutha kuyembekezera nsonga ya 2A pagalimoto iliyonse mula38module yoyendetsa galimoto.
Terence ndi wokonda ma robotiki akuyesera kupanga loboti yabwino kwambiri padziko lapansi.Akadapanda kuwotcha ma LED ngati chizolowezi chachiwiri, akadachita izi kalekale.
Othandizana Kuwulura.Kupangitsa kuti zikhale zosavuta kupeza ma komisheni pazinthu zogulidwa kudzera pamaulalo athu kumathandizira ntchito yomwe timachitira owerenga athu.