Difference between revisions of "NanoHat Motor"
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* The NanoHat Motor is a motor module with I2C. It uses NXP’s PCA9685 and Toshiba’s TB6612FNG. | * 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. | * 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, |
| − | *NanoHat | + | * The NanoHat Motor has the same form factor as the NanoPi NEO and can be stacked on a NanoPi NEO. |
| − | + | ||
==特性== | ==特性== | ||
Revision as of 09:52, 20 April 2017
Contents
1 Introduction
- 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 特性
- 输入电压：12V
- 可驱动四个5V PWM舵机
- 可驱动四个12V直流电机
- 可驱动两个12V四线步进电机
- 板载32K的EEPROM
- I2C地址可自由配置，多个模块堆叠使用
2.1 接口布局
- 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 地
- 4Pin PWM 舵机端子定义
Pin# Name Description 1 PWM* PWM*输出 2 NC 空 3 5V 5V电源输出 4 GND 地
- 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_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：
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
- [Schematic](Schematic - NanoHat Motor.pdf)
- [Datasheet](PCA9685 datasheet)
- [Datasheet](TB6612FNG datasheet)
