[原创]使用Arduino控制L298驱动电机（智能车）类库

使用Arduino控制L298驱动电机（智能车）类库

(2013-04-01 11:29:51)

转载▼

分类： Arduino

很久以前买的L298，在网上找的一些类库都是L298N的用不上，参考着写了一个，有需要的拿去。

头文件：

#ifndef EMoto_h

#define EMoto_h

class EMoto

{

  private:

           int _leftFrontPin;     //定义左边电机前进针脚

           int _leftBackPin;      //定义左边电机后退针脚

           int _rightFrontPin;    //定义右边电机前进针脚

           int _rightBackPin;     //定义右边电机后退针脚

           int _speedLeftValue;   //定义左边电机转速值

           int _speedRightValue;  //定义右边电机转速值

           

  public:

           EMoto(int _lfPin,int _lbPin,int _rfPin,int _rbPin);

           void Forward(int _speedLeftValue,int _speedRightValue); //前进

           void Back(int _speedLeftValue,int _speedRightValue);  //后退

           void TurnLeft(int _speedRightValue);  //左转

           void TurnRight(int _speedLeftValue); //右转

           void TurnLeftOrigin(int _speedLeftValue,int _speedRightValue);     //原地左转

           void TurnRightOrigin(int _speedLeftValue,int _speedRightValue);    //原地右转

           void EStop();      //停止

           void LStop();      //定义左边电机停转

           void RStop();      //定义右边电机停转

           void SetSpeedLeftFront(int _speedLeftValue);   //设置左边电机正转转速

           void SetSpeedLeftBack(int _speedLeftValue);    //设置左边电机反转转速

           void SetSpeedRightFront(int _speedRightValue);    //设置右边电机正转转速

           void SetSpeedRightBack(int _speedRightValue);     //设置右边电机反转转速

           void SetSpeedFront(int _speedLeftValue,int _speedRightValue);    //设置两个电机正转转速

           void SetSpeedBack(int _speedLeftValue,int _speedRightValue);     //设置两个电机反转转速

};

#endif

cpp：

#include "EMoto.h"

#include "Arduino.h"

      

//EMoto类构造函数

EMoto::EMoto(int _lfPin,int _lbPin,int _rfPin,int _rbPin)

{

    _leftFrontPin = _lfPin;

    _leftBackPin = _lbPin;

    _rightFrontPin = _rfPin;

    _rightBackPin = _rbPin;

    pinMode(_leftFrontPin,OUTPUT);

    pinMode(_leftBackPin,OUTPUT);

    pinMode(_rightFrontPin,OUTPUT);

    pinMode(_rightBackPin,OUTPUT);

    EStop(); 

}

//前进子函数--左、右电机正转

void EMoto::Forward(int speedVal1,int speedVal2)

{

    EStop();

    SetSpeedFront(speedVal1,speedVal2);

 }

//后退子函数--左、右电机反转

void EMoto::Back(int speedVal1,int speedVal2)

{

    EStop();

    SetSpeedBack(speedVal1,speedVal2);

}

//左转

void EMoto::TurnLeft(int speedVal)

{

    EStop();

    SetSpeedRightFront(speedVal);

}

//右转

void EMoto::TurnRight(int speedVal)

{

    EStop();

    SetSpeedLeftFront(speedVal);

}

//原地左转

void EMoto::TurnLeftOrigin(int speedVal1,int speedVal2)

{

    EStop();

    SetSpeedRightFront(speedVal1);

    SetSpeedLeftBack(speedVal2);

}

//原地右转

void EMoto::TurnRightOrigin(int speedVal1,int speedVal2)

{

    EStop();

    SetSpeedLeftFront(speedVal1);

    SetSpeedRightBack(speedVal2);

}

//停车

void EMoto::EStop()

{

    RStop();

    LStop();

}

//左边电机停转

void EMoto::LStop()

{

  digitalWrite(_leftFrontPin,LOW);

  digitalWrite(_leftBackPin,LOW);

}

//右边电机停转

void EMoto::RStop()

{

  digitalWrite(_rightFrontPin,LOW);

  digitalWrite(_rightBackPin,LOW);

}

//输出PWM信号

void EMoto::SetSpeedLeftFront(int speedVal)

{

_speedLeftValue = speedVal;

analogWrite(_leftFrontPin,_speedLeftValue);

}

void EMoto::SetSpeedLeftBack(int speedVal)

{

_speedLeftValue = speedVal;

analogWrite(_leftBackPin,_speedLeftValue);

}

void EMoto::SetSpeedRightFront(int speedVal)

{

_speedRightValue = speedVal;

analogWrite(_rightFrontPin,_speedRightValue);

}

void EMoto::SetSpeedRightBack(int speedVal)

{

_speedRightValue = speedVal;

analogWrite(_rightBackPin,_speedRightValue);

}

void EMoto::SetSpeedFront(int speedVal1,int speedVal2)

{

_speedLeftValue = speedVal1;

_speedRightValue = speedVal2;

analogWrite(_leftFrontPin,_speedLeftValue);

analogWrite(_rightFrontPin,_speedRightValue);

}

void EMoto::SetSpeedBack(int speedVal1,int speedVal2)

{

_speedLeftValue = speedVal1;

_speedRightValue = speedVal2;

analogWrite(_leftBackPin,_speedLeftValue);

analogWrite(_rightBackPin,_speedRightValue);

}

色标文件：

#######################################

# Syntax Coloring Map For EMoto

#######################################

 

#######################################

# Datatypes (KEYWORD1) 数据类型关键字

#######################################

 

EMoto        KEYWORD1

 

#######################################

# Methods and Functions (KEYWORD2) 方法类型关键字

#######################################

 

Forward               KEYWORD2

Back                  KEYWORD2

TurnLeft              KEYWORD2

TurnRight             KEYWORD2

TurnLeftOrigin        KEYWORD2

BackTurnRightOrigin   KEYWORD2

EStop                 KEYWORD2