Difference between revisions of "NanoHat Motor"

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[[File:NanoHat Motor_PCB.png | frameless|400px|NanoHat Motor-PCB]]
 
[[File:NanoHat Motor_PCB.png | frameless|400px|NanoHat Motor-PCB]]
  
−
===接口布局===
+
===Diagram, Layout and Dimension===
−
[[File:NanoHat Motor-layout.jpg |thumb|600px|NanoHat Motor接口布局]]
+
[[File:NanoHat Motor-layout.jpg |thumb|600px|NanoHat Motor Layout]]
 
[[File:NanoHat Motor-02.jpg|thumb|frameless|600px|NanoHat Motor]]
 
[[File:NanoHat Motor-02.jpg|thumb|frameless|600px|NanoHat Motor]]
  
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* '''24Pin引脚功能定义'''
+
* '''24-Pin Pin Description'''
 
::{| class="wikitable"
 
::{| class="wikitable"
 
|-
 
|-
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|}
 
|}
  
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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。<br>
+
None of the pins except 5V and GND in the 12-Pin connector is connected.<br>
 
[http://wiki.friendlyarm.com/wiki/index.php/NanoPi_NEO/zh NanoPi NEO]  
 
[http://wiki.friendlyarm.com/wiki/index.php/NanoPi_NEO/zh NanoPi NEO]  
 
[http://wiki.friendlyarm.com/wiki/index.php/NanoPi_NEO_Air/zh NanoPi NEO Air]
 
[http://wiki.friendlyarm.com/wiki/index.php/NanoPi_NEO_Air/zh NanoPi NEO Air]
 
<br>
 
<br>
  
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* '''2Pin电源端子定义'''
+
* '''2-Pin Connector Pin Description'''
 
::{| class="wikitable"
 
::{| class="wikitable"
 
|-
 
|-
 
|Pin# || Name || Description   
 
|Pin# || Name || Description   
 
|-
 
|-
−
|1    || 12V || 12V电源输入      
+
|1    || 12V || 12V Input      
 
|-
 
|-
−
|2    || GND  || 地  
+
|2    || GND  || Ground  
 
|}
 
|}
  
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* '''4Pin PWM 舵机端子定义'''
+
* '''4Pin PWM Steering Motor Connector Pin Description'''
 
::{| class="wikitable"
 
::{| class="wikitable"
 
|-
 
|-
 
|Pin# || Name || Description   
 
|Pin# || Name || Description   
 
|-
 
|-
−
|1    || PWM* || PWM*输出      
+
|1    || PWM* || PWM * Output      
 
|-
 
|-
−
|2    || NC  || 空  
+
|2    || NC  || Not Connected  
 
|-
 
|-
−
|3    || 5V || 5V电源输出      
+
|3    || 5V || 5V Output      
 
|-
 
|-
−
|4    || GND  || 地  
+
|4    || GND  || Ground  
 
|}
 
|}
  
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* '''电机端子定义'''
+
* '''Motor Connector Pin Description'''
 
::{| class="wikitable"
 
::{| class="wikitable"
 
|-
 
|-
 
|Name || Description   
 
|Name || Description   
 
|-
 
|-
−
|M1    || 直流电机1输出 或 步进电机1（1,2线）输出      
+
|M1    || DC Motor #1 output/Step Motor #1 (Wire 1 & 2) output      
 
|-
 
|-
−
|M2    || 直流电机2输出 或 步进电机1（3,4线）输出    
+
|M2    || DC Motor #2 output/Step Motor #1 (Wire 3 & 4) output    
 
|-
 
|-
−
|M3    ||直流电机3输出  或 步进电机2（1,2线）输出
+
|M3    || DC Motor #3 output/Step Motor #2 (Wire 1 & 2) output
 
|-
 
|-
−
|M4    ||直流电机4输出  或 步进电机2（3,4线）输出
+
|M4    || DC Motor #4 output/Step Motor #2 (Wire 3 & 4) output
 
|}
 
|}
  
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==硬件连接==
+
==Hardware Setup==
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===连接NanoPi NEO===
+
===Connect NanoHat Motor to 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。
+
The NanoHat Motor has the same form factor as the NanoPi NEO and can be stacked on a NanoPi NEO
 
参考下图连接模块：<br>
 
参考下图连接模块：<br>
 
[[File:NanoHat Motor_nanopi_NEO.jpg|frameless|600px|NanoHat Motor_nanopi_NEO]]
 
[[File:NanoHat Motor_nanopi_NEO.jpg|frameless|600px|NanoHat Motor_nanopi_NEO]]

Revision as of 10:11, 20 April 2017

查看中文

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 Diagram, Layout and Dimension

NanoHat Motor Layout
NanoHat Motor
  • 24-Pin Pin Description
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

None of the pins except 5V and GND in the 12-Pin connector is connected.
NanoPi NEO NanoPi NEO Air

  • 2-Pin Connector Pin Description
Pin# Name Description
1 12V 12V Input
2 GND Ground
  • 4Pin PWM Steering Motor Connector Pin Description
Pin# Name Description
1 PWM* PWM * Output
2 NC Not Connected
3 5V 5V Output
4 GND Ground
  • Motor Connector Pin Description
Name Description
M1 DC Motor #1 output/Step Motor #1 (Wire 1 & 2) output
M2 DC Motor #2 output/Step Motor #1 (Wire 3 & 4) output
M3 DC Motor #3 output/Step Motor #2 (Wire 1 & 2) output
M4 DC Motor #4 output/Step Motor #2 (Wire 3 & 4) output

3 Hardware Setup

3.1 Connect NanoHat Motor to NanoPi NEO

The NanoHat Motor has the same form factor as the NanoPi NEO and can be stacked on a NanoPi NEO 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

Retrieved from "https://wiki.friendlyelec.com/wiki/index.php?title=NanoHat_Motor&oldid=10141"