BPI-Nano robot 机器人扩展板

Overview

arduino Nano robot board

　BPI-Nano arduino Nano

　BPI-Nano arduino Nano

　with BPI-NANO arduino NANO board

BPI-NANO arduino NANO board

BPI-UNO arduino UNO board

BPI-UNO32 with ESP32

BPI-Nano robot 机器人扩展板是为ardino nano板与arduino Nano兼容板设计. 由Harsh Dethe设计，由比派科技生产。

BPI-NANO robot 控制器可用的电机驱动扩展板,支持双路电机控制,单路最大电流可达1A.

Arduino标准插针设计接口,也可给Arduino Nano配合使用。可应用于小型移动机器人的开发。

Hardware

技术规格

• 驱动芯片：L293B
• 逻辑工作电压：5V DC
• 电机驱动电压：7-12V DC
• 最大驱动电流：1A（每路）
• 电机驱动使用引脚：PIN4/5/6/7（Arduino控制器）
• 平面尺寸：56x57mm

硬件接口示意

PIN引脚定义

BPI-Nano aruino Nano robort GPIO pin define
Pin	Function
Digital 2、4	Motor2 Steering control, 2 high level, 4 low level positive turn;Whereas inversion
Digital 3	Motor 2 Enable interface, high level enable
Digital 5	Motor 1 Enable interface, high level enable
Digital 7、8	Motor 1 Steering control, 7 high level, 8 low level positive turn;Whereas inversion

软件

示例代码

//This motor shield use Pin 2,3,4,5,6,7,8 to control the motor
// Just plug the nano into the shield
// Simply connect your motors to M1 ,M2
// Upload the code to BPI-NANO/arduino
// Through serial monitor, type 'a','s', 'w','d','x' to control the motor
// http://www.banana-pi.org/
//  http://www.banana-pi.org/
// Last modified on 20/09/2019
int EN1 = 5;  //Motor 1 Enable
int EN2 = 3;  //Motor 2 Enable
int IN1 = 7;
int IN2 = 8; //Motor 1 
int IN3 = 2;
int IN4 = 4; //Motor 2
void Motor1(int ENA, boolean reverse)
       {
         digitalWrite(ENA,HIGH);
        if(reverse)
        { 
         digitalWrite(IN1,HIGH);   
         digitalWrite(IN2,LOW);    
        }
       else
       {
         digitalWrite(IN1,LOW);  
         digitalWrite(IN1,HIGH);    
        }
       }  
void Motor2(int ENB, boolean reverse)
       {
         digitalWrite(ENB,HIGH);
        if(reverse)
        { 
         digitalWrite(IN3,HIGH);   
         digitalWrite(IN4,LOW);  
        }
       else
       {
         digitalWrite(IN3,LOW);   
         digitalWrite(IN4,HIGH);   
        }
       }  
void setup() 
{ 
   int i;
   for(i=2;i<=8;i++)  //For BPI-NANO Motor Shield
   pinMode(i, OUTPUT);  //set pin 2,3,4,5,6,78 to output mode
   Serial.begin(9600);   
} 
void loop() 
{ 
 int x,delay_en;
 char val;
 while(1)
 {
   val = Serial.read();
   if(val!=-1)
      {
         switch(val)
          {
            case 'w'://Move ahead
                       Motor1(100,true);  
                       Motor2(100,true);                  
                        break;
            case 's'://move back
                       Motor1(100,false);
                       Motor2(100,false);
                        break;
            case 'a'://turn left
                       Motor1(100,true);
                       Motor2(100,false);
                        break;       
            case 'd'://turn right
                       Motor1(100,false);
                       Motor2(100,true);
                       break;   
              case 'x'://stop
                       digitalWrite(ENA,LOW);
                       digitalWrite(ENB,LOW);
                        break;                                  
          }             
      }
  }                           
}