NanoHat Motor

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1 Introduction

NanoHat Motor
  • The NanoHat Motor is a motor module with I2C. It uses NXP’s PCA9685 and Toshiba’s TB6612FNG.
  • A single module can drive four 5V PWM steering motors and four 12V DC motors or four 5V PWM steering motors and two 12V four-wire step motors. You can drive more motors by stacking multiple modules with different I2C addresses together.
  • It uses TI's TPS54331 device to provide stable power source.
  • An onboard 32K EEPROM AT24C32D can save user data,
  • The NanoHat Motor has the same form factor as the NanoPi NEO and can be stacked on a NanoPi NEO.

2 Hardware Spec

  • Input Voltage: 12V
  • Capable of driving four 5V PWM steering motors
  • Capable of driving four 12V DC motors
  • Capable of driving two 12V four-wire step motors
  • Onboard 32K EEPROM
  • Stackable and Configurable I2C address

NanoHat Motor-PCB

2.1 接口布局

NanoHat Motor接口布局
NanoHat Motor
  • 24Pin引脚功能定义
Pin# Name Pin# Name
1 SYS_3.3V 2 VDD_5V OUT
3 I2C_SDA 4 VDD_5V OUT
5 I2C_SCL 6 GND
7 NC 8 NC
9 GND 10 NC
11 NC 12 NC
13 NC 14 GND
15 NC 16 NC
17 SYS_3.3V 18 NC
19 NC 20 GND
21 NC 22 NC
23 NC 24 NC

12Pin排针未使用,引脚功能定义在此不列举,请在NanoPi NEO/Air/NEO2维基页面查阅。
NanoPi NEO NanoPi NEO Air

  • 2Pin电源端子定义
Pin# Name Description
1 12V 12V电源输入
2 GND
  • 4Pin PWM 舵机端子定义
Pin# Name Description
1 PWM* PWM*输出
2 NC
3 5V 5V电源输出
4 GND
  • 电机端子定义
Name Description
M1 直流电机1输出 或 步进电机1(1,2线)输出
M2 直流电机2输出 或 步进电机1(3,4线)输出
M3 直流电机3输出 或 步进电机2(1,2线)输出
M4 直流电机4输出 或 步进电机2(3,4线)输出

3 硬件连接

3.1 连接NanoPi NEO

NanoHat Motor模块和NanoPi NEO尺寸和接口完全相同,可直接堆叠在NanoPi NEO上使用。 参考下图连接模块:
NanoHat Motor_nanopi_NEO NanoHat Motor_nanopi_NEO_Air NanoHat Motor_nanopi_NEO2
可通过配置电阻更改模块的I2C从地址,从而堆叠使用多个模块以驱动更多的电机,参考下图连接模块:
NanoHat Motor_nanopi_NEO_Hat

4 运行测试程序

NanoHat Motor的测试程序包含在 NanoHAT-Motor-Python-Library 软件仓库里。

NanoHAT-Motor-Python-Library是一个Python类库,为舵机、直流电机和步进电机提供了非常便利的编程接口,提供单个和多个电机的高精度控制。

当前支持的开发板:
NanoPi NEO
NanoPi Fire

其他开发板只能带有 I2C 接口,通过适当配置也能支持。

4.1 安装NanoHAT-Motor-Python-Library

通过ssh,或者串口终端进入开发板的命令行,执行以下命令安装:

sudo apt-get install python-dev python-smbus git
cd ~
git clone https://github.com/friendlyarm/NanoHAT-Motor-Python-Library
cd NanoHAT-Motor-Python-Library
python setup.py install

4.2 NanoHAT-Motor-Python-Library的基本使用

4.2.1 操作直流电机

cd ~/NanoHAT-Motor-Python-Library/examples
python DCTest.py <motor port>

其中,<motor port>为电机连接的端口。

4.2.2 操作步进马达

cd ~/NanoHAT-Motor-Python-Library/examples
python StepperTest.py <motor port>

其中,<motor port>为马达连接的端口。

4.2.3 操作舵机

cd ~/NanoHAT-Motor-Python-Library/examples
python ServoTest.py <pwm port>

其中,<pwm port>为舵机连接的端口。

5 相关资料