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Arduino+L293D的原理庫，以及源碼等資料

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這是我在找了很多資料后，親自調試好用的資料，

電路原理圖如下：


Arduino is a great starting point for electronics, and with a motor shield it can also be a nice tidy platform for robotics and mechatronics. Here is a design for a full-featured motor shield that will be able to power many simple to medium-complexity projects.
•    2 connections for 5V 'hobby' servos connected to the Arduino's high-resolution dedicated timer - no jitter!
•    Up to 4 bi-directional DC motors with individual 8-bit speed selection (so, about 0.5% resolution)
•    Up to 2 stepper motors (unipolar or bipolar) with single coil, double coil, interleaved or micro-stepping.
•    4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with thermal shutdown protection, 4.5V to12V
•    Pull down resistors keep motors disabled during power-up
•    Big terminal block connectors to easily hook up wires (10-22AWG) and power
•    Arduino reset button brought up top
•    2-pin terminal block to connect external power, for seperate logic/motor supplies
•    Tested compatible with Mega, Diecimila, & Duemilanove
•    附件程序在arduino-022版本使用，需要在其它版本上運行，可能需要修改頭文件

Arduino源程序如下:
  1. // Adafruit Motor shield library
  2. // copyright Adafruit Industries LLC, 2009
  3. // this code is public domain, enjoy!


  6. #include <avr/io.h>
  7. #include "WProgram.h"
  8. #include "AFMotor.h"

  10. static uint8_t latch_state;

  12. #if (MICROSTEPS == 8)
  13. uint8_t microstepcurve[] = {0, 50, 98, 142, 180, 212, 236, 250, 255};
  14. #elif (MICROSTEPS == 16)
  15. uint8_t microstepcurve[] = {0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};
  16. #endif

  18. AFMotorController::AFMotorController(void) {
  19. }

  21. void AFMotorController::enable(void) {
  22.   // setup the latch
  23.   /*
  24.   LATCH_DDR |= _BV(LATCH);
  25.   ENABLE_DDR |= _BV(ENABLE);
  26.   CLK_DDR |= _BV(CLK);
  27.   SER_DDR |= _BV(SER);
  28.   */
  29.   pinMode(MOTORLATCH, OUTPUT);
  30.   pinMode(MOTORENABLE, OUTPUT);
  31.   pinMode(MOTORDATA, OUTPUT);
  32.   pinMode(MOTORCLK, OUTPUT);

  34.   latch_state = 0;

  36.   latch_tx();  // "reset"

  38.   //ENABLE_PORT &= ~_BV(ENABLE); // enable the chip outputs!
  39.   digitalWrite(MOTORENABLE, LOW);
  40. }


  43. void AFMotorController::latch_tx(void) {
  44.   uint8_t i;

  46.   //LATCH_PORT &= ~_BV(LATCH);
  47.   digitalWrite(MOTORLATCH, LOW);

  49.   //SER_PORT &= ~_BV(SER);
  50.   digitalWrite(MOTORDATA, LOW);

  52.   for (i=0; i<8; i++) {
  53.     //CLK_PORT &= ~_BV(CLK);
  54.     digitalWrite(MOTORCLK, LOW);

  56.     if (latch_state & _BV(7-i)) {
  57.       //SER_PORT |= _BV(SER);
  58.       digitalWrite(MOTORDATA, HIGH);
  59.     } else {
  60.       //SER_PORT &= ~_BV(SER);
  61.       digitalWrite(MOTORDATA, LOW);
  62.     }
  63.     //CLK_PORT |= _BV(CLK);
  64.     digitalWrite(MOTORCLK, HIGH);
  65.   }
  66.   //LATCH_PORT |= _BV(LATCH);
  67.   digitalWrite(MOTORLATCH, HIGH);
  68. }

  70. static AFMotorController MC;


  73. /******************************************
  74.                MOTORS
  75. ******************************************/
  76. inline void initPWM1(uint8_t freq) {
  77. #if defined(__AVR_ATmega8__) || \
  78.     defined(__AVR_ATmega48__) || \
  79.     defined(__AVR_ATmega88__) || \
  80.     defined(__AVR_ATmega168__) || \
  81.     defined(__AVR_ATmega328P__)
  82.     // use PWM from timer2A on PB3 (Arduino pin #11)
  83.     TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
  84.     TCCR2B = freq & 0x7;
  85.     OCR2A = 0;
  86. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  87.     // on arduino mega, pin 11 is now PB5 (OC1A)
  88.     TCCR1A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a
  89.     TCCR1B = (freq & 0x7) | _BV(WGM12);
  90.     OCR1A = 0;
  91. #else
  92.    #error "This chip is not supported!"
  93. #endif
  94.     pinMode(11, OUTPUT);
  95. }

  97. inline void setPWM1(uint8_t s) {
  98. #if defined(__AVR_ATmega8__) || \
  99.     defined(__AVR_ATmega48__) || \
  100.     defined(__AVR_ATmega88__) || \
  101.     defined(__AVR_ATmega168__) || \
  102.     defined(__AVR_ATmega328P__)
  103.     // use PWM from timer2A on PB3 (Arduino pin #11)
  104.     OCR2A = s;
  105. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  106.     // on arduino mega, pin 11 is now PB5 (OC1A)
  107.     OCR1A = s;
  108. #else
  109.    #error "This chip is not supported!"
  110. #endif
  111. }

  113. inline void initPWM2(uint8_t freq) {
  114. #if defined(__AVR_ATmega8__) || \
  115.     defined(__AVR_ATmega48__) || \
  116.     defined(__AVR_ATmega88__) || \
  117.     defined(__AVR_ATmega168__) || \
  118.     defined(__AVR_ATmega328P__)
  119.     // use PWM from timer2B (pin 3)
  120.     TCCR2A |= _BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b
  121.     TCCR2B = freq & 0x7;
  122.     OCR2B = 0;
  123. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  124.     // on arduino mega, pin 3 is now PE5 (OC3C)
  125.     TCCR3A |= _BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c
  126.     TCCR3B = (freq & 0x7) | _BV(WGM12);
  127.     OCR3C = 0;
  128. #else
  129.    #error "This chip is not supported!"
  130. #endif

  132.     pinMode(3, OUTPUT);
  133. }

  135. inline void setPWM2(uint8_t s) {
  136. #if defined(__AVR_ATmega8__) || \
  137.     defined(__AVR_ATmega48__) || \
  138.     defined(__AVR_ATmega88__) || \
  139.     defined(__AVR_ATmega168__) || \
  140.     defined(__AVR_ATmega328P__)
  141.     // use PWM from timer2A on PB3 (Arduino pin #11)
  142.     OCR2B = s;
  143. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  144.     // on arduino mega, pin 11 is now PB5 (OC1A)
  145.     OCR3C = s;
  146. #else
  147.    #error "This chip is not supported!"
  148. #endif
  149. }

  151. inline void initPWM3(uint8_t freq) {
  152. #if defined(__AVR_ATmega8__) || \
  153.     defined(__AVR_ATmega48__) || \
  154.     defined(__AVR_ATmega88__) || \
  155.     defined(__AVR_ATmega168__) || \
  156.     defined(__AVR_ATmega328P__)
  157.     // use PWM from timer0A / PD6 (pin 6)
  158.     TCCR0A |= _BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A
  159.     //TCCR0B = freq & 0x7;
  160.     OCR0A = 0;
  161. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  162.     // on arduino mega, pin 6 is now PH3 (OC4A)
  163.     TCCR4A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a
  164.     TCCR4B = (freq & 0x7) | _BV(WGM12);
  165.     //TCCR4B = 1 | _BV(WGM12);
  166.     OCR4A = 0;
  167. #else
  168.    #error "This chip is not supported!"
  169. #endif
  170.     pinMode(6, OUTPUT);
  171. }

  173. inline void setPWM3(uint8_t s) {
  174. #if defined(__AVR_ATmega8__) || \
  175.     defined(__AVR_ATmega48__) || \
  176.     defined(__AVR_ATmega88__) || \
  177.     defined(__AVR_ATmega168__) || \
  178.     defined(__AVR_ATmega328P__)
  179.     // use PWM from timer0A on PB3 (Arduino pin #6)
  180.     OCR0A = s;
  181. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  182.     // on arduino mega, pin 6 is now PH3 (OC4A)
  183.     OCR4A = s;
  184. #else
  185.    #error "This chip is not supported!"
  186. #endif
  187. }



  191. inline void initPWM4(uint8_t freq) {
  192. #if defined(__AVR_ATmega8__) || \
  193.     defined(__AVR_ATmega48__) || \
  194.     defined(__AVR_ATmega88__) || \
  195.     defined(__AVR_ATmega168__) || \
  196.     defined(__AVR_ATmega328P__)
  197.     // use PWM from timer0B / PD5 (pin 5)
  198.     TCCR0A |= _BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a
  199.     //TCCR0B = freq & 0x7;
  200.     OCR0B = 0;
  201. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  202.     // on arduino mega, pin 5 is now PE3 (OC3A)
  203.     TCCR3A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a
  204.     TCCR3B = (freq & 0x7) | _BV(WGM12);
  205.     //TCCR4B = 1 | _BV(WGM12);
  206.     OCR3A = 0;
  207. #else
  208.    #error "This chip is not supported!"
  209. #endif
  210.     pinMode(5, OUTPUT);
  211. }

  213. inline void setPWM4(uint8_t s) {
  214. #if defined(__AVR_ATmega8__) || \
  215.     defined(__AVR_ATmega48__) || \
  216.     defined(__AVR_ATmega88__) || \
  217.     defined(__AVR_ATmega168__) || \
  218.     defined(__AVR_ATmega328P__)
  219.     // use PWM from timer0A on PB3 (Arduino pin #6)
  220.     OCR0B = s;
  221. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  222.     // on arduino mega, pin 6 is now PH3 (OC4A)
  223.     OCR3A = s;
  224. #else
  225.    #error "This chip is not supported!"
  226. #endif
  227. }

  229. AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) {
  230.   motornum = num;
  231.   pwmfreq = freq;

  233.   MC.enable();

  235.   switch (num) {
  236.   case 1:
  237.     latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B); // set both motor pins to 0
  238.     MC.latch_tx();
  239.     initPWM1(freq);
  240.     break;
  241.   case 2:
  242.     latch_state &= ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // set both motor pins to 0
  243.     MC.latch_tx();
  244.     initPWM2(freq);
  245.     break;
  246.   case 3:
  247.     latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B); // set both motor pins to 0
  248.     MC.latch_tx();
  249.     initPWM3(freq);
  250.     break;
  251.   case 4:
  252.     latch_state &= ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // set both motor pins to 0
  253.     MC.latch_tx();
  254.     initPWM4(freq);
  255.     break;
  256.   }
  257. }

  259. void AF_DCMotor::run(uint8_t cmd) {
  260.   uint8_t a, b;
  261.   switch (motornum) {
  262.   case 1:
  263.     a = MOTOR1_A; b = MOTOR1_B; break;
  264.   case 2:
  265.     a = MOTOR2_A; b = MOTOR2_B; break;
  266.   case 3:
  267.     a = MOTOR3_A; b = MOTOR3_B; break;
  268.   case 4:
  269.     a = MOTOR4_A; b = MOTOR4_B; break;
  270.   default:
  271.     return;
  272.   }
  273.   
  274.   switch (cmd) {
  275.   case FORWARD:
  276.     latch_state |= _BV(a);
  277.     latch_state &= ~_BV(b);
  278.     MC.latch_tx();
  279.     break;
  280.   case BACKWARD:
  281.     latch_state &= ~_BV(a);
  282.     latch_state |= _BV(b);
  283.     MC.latch_tx();
  284.     break;
  285.   case RELEASE:
  286.     latch_state &= ~_BV(a);
  287.     latch_state &= ~_BV(b);
  288.     MC.latch_tx();
  289.     break;
  290.   }
  291. }

  293. void AF_DCMotor::setSpeed(uint8_t speed) {
  294.   switch (motornum) {
  295.   case 1:
  296.     setPWM1(speed); break;
  297.   case 2:
  298.     setPWM2(speed); break;
  299.   case 3:
  300.     setPWM3(speed); break;
  301.   case 4:
  302.     setPWM4(speed); break;
  303.   }
  304. }

  306. /******************************************
  307.                STEPPERS
  308. ******************************************/

  310. AF_Stepper::AF_Stepper(uint16_t steps, uint8_t num) {
  311.   MC.enable();

  313.   revsteps = steps;
  314.   steppernum = num;
  315.   currentstep = 0;

  317.   if (steppernum == 1) {
  318.     latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B) &
  319.       ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // all motor pins to 0
  320.     MC.latch_tx();
  321.    
  322.     // enable both H bridges
  323.     pinMode(11, OUTPUT);
  324.     pinMode(3, OUTPUT);
  325.     digitalWrite(11, HIGH);
  326.     digitalWrite(3, HIGH);

  328.     // use PWM for microstepping support
  329.     initPWM1(MOTOR12_64KHZ);
  330.     initPWM2(MOTOR12_64KHZ);
  331.     setPWM1(255);
  332.     setPWM2(255);

  334.   } else if (steppernum == 2) {
  335.     latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B) &
  336.       ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // all motor pins to 0
  337.     MC.latch_tx();

  339.     // enable both H bridges
  340.     pinMode(5, OUTPUT);
  341.     pinMode(6, OUTPUT);
  342.     digitalWrite(5, HIGH);
  343.     digitalWrite(6, HIGH);

  345.     // use PWM for microstepping support
  346.     // use PWM for microstepping support
  347.     initPWM3(1);
  348.     initPWM4(1);
  349.     setPWM3(255);
  350.     setPWM4(255);
  351.   }
  352. }

  354. void AF_Stepper::setSpeed(uint16_t rpm) {
  355.   usperstep = 60000000 / ((uint32_t)revsteps * (uint32_t)rpm);
  356.   steppingcounter = 0;
  357. }

  359. void AF_Stepper::release(void) {
  360.   if (steppernum == 1) {
  361.     latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B) &
  362.       ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // all motor pins to 0
  363.     MC.latch_tx();
  364.   } else if (steppernum == 2) {
  365.     latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B) &
  366.       ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // all motor pins to 0
  367.     MC.latch_tx();
  368.   }
  369. }

  371. void AF_Stepper::step(uint16_t steps, uint8_t dir,  uint8_t style) {
  372.   uint32_t uspers = usperstep;
  373.   uint8_t ret = 0;

  375.   if (style == INTERLEAVE) {
  376.     uspers /= 2;
  377.   }
  378. else if (style == MICROSTEP) {
  379.     uspers /= MICROSTEPS;
  380.     steps *= MICROSTEPS;
  381. #ifdef MOTORDEBUG
  382.     Serial.print("steps = "); Serial.println(steps, DEC);
  383. #endif
  384.   }

  386.   while (steps--) {
  387.     ret = onestep(dir, style);
  388.     delay(uspers/1000); // in ms
  389.     steppingcounter += (uspers % 1000);
  390.     if (steppingcounter >= 1000) {
  391.       delay(1);
  392.       steppingcounter -= 1000;
  393.     }
  394.   }
  395.   if (style == MICROSTEP) {
  396.     while ((ret != 0) && (ret != MICROSTEPS)) {
  397.       ret = onestep(dir, style);
  398.       delay(uspers/1000); // in ms
  399.       steppingcounter += (uspers % 1000);
  400.       if (steppingcounter >= 1000) {
  401.         delay(1);
  402.         steppingcounter -= 1000;
  403.       }
  404.     }
  405.   }
  406. }

  408. uint8_t AF_Stepper::onestep(uint8_t dir, uint8_t style) {
  409.   uint8_t a, b, c, d;
  410.   uint8_t ocrb, ocra;

  412.   ocra = ocrb = 255;

  414.   if (steppernum == 1) {
  415.     a = _BV(MOTOR1_A);
  416.     b = _BV(MOTOR2_A);
  417.     c = _BV(MOTOR1_B);
  418.     d = _BV(MOTOR2_B);
  419.   } else if (steppernum == 2) {
  420.     a = _BV(MOTOR3_A);
  421.     b = _BV(MOTOR4_A);
  422.     c = _BV(MOTOR3_B);
  423.     d = _BV(MOTOR4_B);
  424.   } else {
  425.     return 0;
  426.   }

  428.   // next determine what sort of stepping procedure we're up to
  429.   if (style == SINGLE) {
  430.     if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird
  431.       if (dir == FORWARD) {
  432.         currentstep += MICROSTEPS/2;
  433.       }
  434.       else {
  435.         currentstep -= MICROSTEPS/2;
  436.       }
  437.     } else {           // go to the next even step
  438.       if (dir == FORWARD) {
  439.         currentstep += MICROSTEPS;
  440.       }
  441.       else {
  442.         currentstep -= MICROSTEPS;
  443.       }
  444.     }
  445.   } else if (style == DOUBLE) {
  446.     if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird
  447.       if (dir == FORWARD) {
  448.         currentstep += MICROSTEPS/2;
  449.       } else {
  450.         currentstep -= MICROSTEPS/2;
  451.       }
  452.     } else {           // go to the next odd step
  453.       if (dir == FORWARD) {
  454.         currentstep += MICROSTEPS;
  455.       } else {
  456.         currentstep -= MICROSTEPS;
  457.       }
  458.     }
  459.   } else if (style == INTERLEAVE) {
  460.     if (dir == FORWARD) {
  461.        currentstep += MICROSTEPS/2;
  462.     } else {
  463.        currentstep -= MICROSTEPS/2;
  464.     }
  465.   }

  467.   if (style == MICROSTEP) {
  468.     if (dir == FORWARD) {
  469.       currentstep++;
  470.     } else {
  471.       // BACKWARDS
  472.       currentstep--;
  473.     }

  475.     currentstep += MICROSTEPS*4;
  476.     currentstep %= MICROSTEPS*4;

  478.     ocra = ocrb = 0;
  479.     if ( (currentstep >= 0) && (currentstep < MICROSTEPS)) {
  480.       ocra = microstepcurve[MICROSTEPS - currentstep];
  481.       ocrb = microstepcurve[currentstep];
  482.     } else if  ( (currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS*2)) {
  483.       ocra = microstepcurve[currentstep - MICROSTEPS];
  484.       ocrb = microstepcurve[MICROSTEPS*2 - currentstep];
  485.     } else if  ( (currentstep >= MICROSTEPS*2) && (currentstep < MICROSTEPS*3)) {
  486.       ocra = microstepcurve[MICROSTEPS*3 - currentstep];
  487.       ocrb = microstepcurve[currentstep - MICROSTEPS*2];
  488.     } else if  ( (currentstep >= MICROSTEPS*3) && (currentstep < MICROSTEPS*4)) {
  489.       ocra = microstepcurve[currentstep - MICROSTEPS*3];
  490.       ocrb = microstepcurve[MICROSTEPS*4 - currentstep];
  491.     }
  492.   }

  494.   currentstep += MICROSTEPS*4;
  495.   currentstep %= MICROSTEPS*4;

  497. #ifdef MOTORDEBUG
  498.   Serial.print("current step: "); Serial.println(currentstep, DEC);
  499.   Serial.print(" pwmA = "); Serial.print(ocra, DEC);
  500.   Serial.print(" pwmB = "); Serial.println(ocrb, DEC);
  501. ……………………

  503. …………限于本文篇幅 余下代碼請從51黑下載附件…………
復制代碼

所有資料51hei提供下載:
L293D資料.7z (58.5 KB, 下載次數: 33)


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