电机驱动板讲解.docVIP

Understanding the Adafruit Motor Shie... Understanding the Adafruit Motor Shield Library Ive recently been working on a small robotics project using the  HYPERLINK http://arduino.cc Arduino platform with the  HYPERLINK /make/mshield/ Adafruit motor shield. Im an experienced applications programmer but a complete novice at electronics and embedded programming, so I find it challenging to understand how the hardware design and the code relate to each other. Ive been going through the motor shield schematic and the  HYPERLINK /make/mshield/download.html code library to try to understand them both in detail, and I thought it might be helpful to other beginning Arduinists if I were to write up what Ive figured out so far. At least for now I will focus on DC motor control because thats what Ive been working on and have learned the most about. Basic DC Motor Control Lets set aside speed control for a moment and first walk through how the motors are turned on and off. The Motor Drivers and Shift Register The motor shield can control up to four DC motors using two  HYPERLINK /lit/ds/symlink/l293.pdf L293D dual H-bridge motor driver ICs. You can read the datasheet for details, but the main thing to know is that each IC has four digital inputs and can control two motors bidirectionally. The inputs are in pairs, and each pair controls a motor. For example, if pin 2 is set high and pin 7 is set low, motor 1 is turned on. If the inputs are reversed, the motor is again on but its direction of rotation is reversed, and if both are set low then the motor is off. There are other possible configurations but this is the one supported by the motor shield. So obviously the thing to do is wire eight pins from the Arduino to the eight inputs on the two ICs, right? Thats what I imagined at first, but its WRONG!! Pins are a scarce resource, and the motor shield design makes an extra effort to conserve them. The inputs to the motor drivers are actually wired to the outputs of a