NanoHat Motor

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

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 Here are some hardware setups:
NanoHat Motor_nanopi_NEO2
The I2C address on the module can be reset by adjusting the onboard resistor. You can stack multiple motor modules together with different I2C addresses. Here is a hardware setup:

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)