【Landzo C1试用体验】小车左转的秘密

电路

电机的驱动，实际上是运用L9110
L9110是为控制和驱动电机设计的两通道推挽式功率放大专用集成电路器件，将分立电路集成在单片IC之中，使外围器件成本降低，整机可靠性提高。该芯片有两个 TTL/CMOS 兼容电平的输入，具有良好的抗干扰性；两个输出端能直接驱动电机的正反向运动及刹车，它具有较大的电流驱动能力，每通道能通过750～800mA的持续电流，峰值电流能力可达1.5～2.0A；同时它具有较低的输出饱和压降；内置的钳位二极管能释放感性负载的反向冲击电流，使它在驱动继电器、直流电机、步进电机或开关功率管的使用上安全可靠。L9110被广泛应用于保险柜、玩具汽车的电机驱动、步进电机驱动和开关功率管等电路上。

逻辑功能真值表

向前
  analogWrite( 3 , 0 );
  analogWrite(5,255);
  analogWrite( 6 , 0 );
  analogWrite(9,255);

左向前
  analogWrite( 3 , 0 );
  analogWrite(5,255);

左向后
  analogWrite( 3 , 255 );
  analogWrite(5,0);

右向前
  analogWrite( 6 , 0 );
  analogWrite(9,255);

右向后
  analogWrite( 6 , 255 );
  analogWrite(9,0);

左大弯
  analogWrite( 3 , 0 );
  analogWrite(5,200);
  analogWrite( 6 , 0 );
  analogWrite(9,255);

以左轮为轴左360转
  analogWrite( 3 , 0);
  analogWrite(5,0);
  analogWrite( 6 , 0 );
  analogWrite(9,255);

左原地转
analogWrite( 3 , 255 );
  analogWrite(5,0);
  analogWrite( 6 , 0 );
  analogWrite(9,255);