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--- wm_wiki:9g_sovor:manual [2020/03/10 18:41]
juneral 创建
+++ wm_wiki:9g_sovor:manual [2020/05/12 15:44] (当前版本)
juneral [3.1. 模块功能及图形化编程指南]
@@ 行 1: / 行 1: @@
-====== MG995舵机 ======
+====== 9克舵机 ======
 ===== 1. 舵机概述 =====
 <html><body>
+<p class=MsoNormal style='text-indent:32.0pt'><span lang=EN-US
+style='font-size:16.0pt;line-height:105%;font-family:宋体'>9</span><span
+style='font-size:16.0pt;line-height:105%;font-family:宋体'>克舵机是一种简单的，常用的标准伺服电机，可使用在机器人头部，机械手，云台等，用于小型轻型场景。</span></p>
 </body></html>
@@ 行 10: / 行 12: @@
 ===== 2. 电机参数 =====
 <html><body>
+<div align=center>
+<table class=MsoNormalTable border=0 cellspacing=0 cellpadding=0
+ style='border-collapse:collapse;mso-yfti-tbllook:1184;mso-padding-alt:0cm 0cm 0cm 0cm'>
+ <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'>
+  <td width=232 valign=top style='width:174.15pt;border-top:solid #5B9BD5 3.0pt;
+  border-left:solid #5B9BD5 3.0pt;border-bottom:solid white 2.25pt;border-right:
+  none;background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span style='font-size:18.0pt;
+  font-family:宋体;color:white'>参数</span></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border-top:solid #5B9BD5 3.0pt;
+  border-left:none;border-bottom:solid white 2.25pt;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span style='font-size:18.0pt;
+  font-family:宋体;color:white'>值</span><span lang=EN-US style='font-size:18.0pt;
+  color:white'>/</span><span style='font-size:18.0pt;font-family:宋体;color:white'>描述</span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:1'>
+  <td width=232 valign=top style='width:174.15pt;border-top:none;border-left:
+  solid #5B9BD5 3.0pt;border-bottom:none;border-right:solid white 1.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>工作电压范围</span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border:none;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>3.8~6.0 VDC<o:p></o:p></span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:2'>
+  <td width=232 valign=top style='width:174.15pt;border:solid white 1.0pt;
+  border-left:solid #5B9BD5 3.0pt;background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>工作电流</span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border-top:solid white 1.0pt;
+  border-left:none;border-bottom:solid white 1.0pt;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>80mA~100mA<o:p></o:p></span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:3'>
+  <td width=232 valign=top style='width:174.15pt;border-top:none;border-left:
+  solid #5B9BD5 3.0pt;border-bottom:solid white 1.0pt;border-right:solid white 1.0pt;
+  mso-border-top-alt:solid white 1.0pt;background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>待机电流<span lang=EN-US><o:p></o:p></span></span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border-top:none;border-left:
+  none;border-bottom:solid white 1.0pt;border-right:solid #5B9BD5 3.0pt;
+  mso-border-top-alt:solid white 1.0pt;background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>5mA<o:p></o:p></span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:4'>
+  <td width=232 valign=top style='width:174.15pt;border-top:none;border-left:
+  solid #5B9BD5 3.0pt;border-bottom:none;border-right:solid white 1.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>极限角度</span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border:none;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>210</span><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>°<span lang=EN-US>±5%<o:p></o:p></span></span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:5'>
+  <td width=232 valign=top style='width:174.15pt;border:solid white 1.0pt;
+  border-left:solid #5B9BD5 3.0pt;background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>工作扭矩</span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border-top:solid white 1.0pt;
+  border-left:none;border-bottom:solid white 1.0pt;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>1.3</span><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>到<span lang=EN-US>1.7kg/cm</span></span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:6'>
+  <td width=232 valign=top style='width:174.15pt;border-top:none;border-left:
+  solid #5B9BD5 3.0pt;border-bottom:none;border-right:solid white 1.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>信号周期</span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border:none;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>20ms</span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:7;mso-yfti-lastrow:yes'>
+  <td width=232 valign=top style='width:174.15pt;border:solid white 1.0pt;
+  border-left:solid #5B9BD5 3.0pt;background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>信号高电平时间范围</span></b></p>
+  </td>
+  <td width=395 valign=top style='width:295.9pt;border-top:solid white 1.0pt;
+  border-left:none;border-bottom:solid white 1.0pt;border-right:solid #5B9BD5 3.0pt;
+  background:#5B9BD5;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>1000</span><span style='font-size:16.0pt;
+  font-family:宋体;color:white'>到<span lang=EN-US>2000 us/</span>周期</span></p>
+  </td>
+ </tr>
+</table>
+</div>
 </body></html>
@@ 行 20: / 行 154: @@
 <html><body>
+<p class=MsoNormal style='text-indent:32.0pt'><span style='font-size:16.0pt;
+line-height:105%;font-family:等线;color:#666666;background:white'>该电机支持的图形化编程平台有</span><span
+lang=EN-US style='font-size:16.0pt;line-height:105%;font-family:"Helvetica",sans-serif;
+color:#666666;background:white'><span style='box-sizing: border-box;font-variant-ligatures: normal;
+font-variant-caps: normal;orphans: 2;text-align:start;widows: 2;-webkit-text-stroke-width: 0px;
+text-decoration-style: initial;text-decoration-color: initial;word-spacing:
+px'>WeeeCode</span></span><span style='font-size:16.0pt;line-height:105%;
+font-family:等线;color:#666666;background:white'><span style='box-sizing: border-box;
+font-variant-ligatures: normal;font-variant-caps: normal;orphans: 2;text-align:
+start;widows: 2;-webkit-text-stroke-width: 0px;text-decoration-style: initial;
+text-decoration-color: initial;word-spacing:0px'>、编程猫平台、</span></span><span
+lang=EN-US style='font-size:16.0pt;line-height:105%;font-family:"Helvetica",sans-serif;
+color:#666666;background:white'><span style='box-sizing: border-box;font-variant-ligatures: normal;
+font-variant-caps: normal;orphans: 2;text-align:start;widows: 2;-webkit-text-stroke-width: 0px;
+text-decoration-style: initial;text-decoration-color: initial;word-spacing:
+px'>Mixly_Arduino</span></span><span style='font-size:16.0pt;line-height:105%;
+font-family:等线;color:#666666;background:white'><span style='box-sizing: border-box;
+font-variant-ligatures: normal;font-variant-caps: normal;orphans: 2;text-align:
+start;widows: 2;-webkit-text-stroke-width: 0px;text-decoration-style: initial;
+text-decoration-color: initial;word-spacing:0px'>、</span></span><span
+lang=EN-US style='font-size:16.0pt;line-height:105%;font-family:"Helvetica",sans-serif;
+color:#666666;background:white'><span style='box-sizing: border-box;font-variant-ligatures: normal;
+font-variant-caps: normal;orphans: 2;text-align:start;widows: 2;-webkit-text-stroke-width: 0px;
+text-decoration-style: initial;text-decoration-color: initial;word-spacing:
+px'>MakeCode</span></span><span style='font-size:16.0pt;line-height:105%;
+font-family:等线;color:#666666;background:white'><span style='box-sizing: border-box;
+font-variant-ligatures: normal;font-variant-caps: normal;orphans: 2;text-align:
+start;widows: 2;-webkit-text-stroke-width: 0px;text-decoration-style: initial;
+text-decoration-color: initial;word-spacing:0px'>等，其图形化编程大同小异，区别不会很大。</span></span></p>
+<div align=center>
+<table class=MsoNormalTable border=0 cellspacing=0 cellpadding=0
+ style='border-collapse:collapse'>
+ <tr style='height:24.7pt'>
+  <td width=244 valign=top style='width:183.3pt;border:solid windowtext 1.0pt;
+  padding:0cm 5.4pt 0cm 5.4pt;height:24.7pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:14.0pt;
+  font-family:等线;color:black;background:white'>模块功能</span></b></p>
+  </td>
+  <td width=189 valign=top style='width:142.05pt;border:solid windowtext 1.0pt;
+  border-left:none;padding:0cm 5.4pt 0cm 5.4pt;height:24.7pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:14.0pt;
+  font-family:等线;color:black;background:white'>需传参数</span></b></p>
+  </td>
+  <td width=455 valign=top style='width:341.05pt;border:solid windowtext 1.0pt;
+  border-left:none;padding:0cm 5.4pt 0cm 5.4pt;height:24.7pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><b><span style='font-size:14.0pt;
+  font-family:等线;color:black;background:white'>图形化编程块举例</span></b><b
+  style='box-sizing: border-box;font-variant-ligatures: normal;font-variant-caps: normal;
+  orphans: 2;widows: 2;-webkit-text-stroke-width: 0px;text-decoration-style: initial;
+  text-decoration-color: initial;word-spacing:0px'><span style='box-sizing: border-box'><span
+  lang=EN-US style='font-size:14.0pt;font-family:"Helvetica",sans-serif;
+  color:black;background:white'>(</span></span></b><b style='box-sizing: border-box;
+  font-variant-ligatures: normal;font-variant-caps: normal;orphans: 2;
+  widows: 2;-webkit-text-stroke-width: 0px;text-decoration-style: initial;
+  text-decoration-color: initial;word-spacing:0px'><span style='box-sizing: border-box'><span
+  style='font-size:14.0pt;font-family:等线;color:black;background:white'>其他平台图形化编程块大同小异</span></span></b><b
+  style='box-sizing: border-box;font-variant-ligatures: normal;font-variant-caps: normal;
+  orphans: 2;widows: 2;-webkit-text-stroke-width: 0px;text-decoration-style: initial;
+  text-decoration-color: initial;word-spacing:0px'><span style='box-sizing: border-box'><span
+  lang=EN-US style='font-size:14.0pt;font-family:"Helvetica",sans-serif;
+  color:black;background:white'>)</span></span></b></p>
+  </td>
+ </tr>
+ <tr>
+  <td width=244 style='width:183.3pt;border:solid windowtext 1.0pt;border-top:
+  none;padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span style='font-size:14.0pt;
+  font-family:等线;color:black;background:white'>驱动舵机运作</span></p>
+  </td>
+  <td width=189 style='width:142.05pt;border-top:none;border-left:none;
+  border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;
+  padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal style='margin-bottom:0cm;margin-bottom:.0001pt;line-height:
+  normal'><span style='font-size:14.0pt;font-family:等线;color:black;background:
+  white'>（</span><span lang=EN-US style='font-size:14.0pt;font-family:"Helvetica",sans-serif;
+  color:black;background:white'><span style='box-sizing: border-box;font-variant-ligatures: normal;
+  font-variant-caps: normal;orphans: 2;widows: 2;-webkit-text-stroke-width: 0px;
+  text-decoration-style: initial;text-decoration-color: initial;word-spacing:
+px'>2</span></span><span style='font-size:14.0pt;font-family:等线;color:black;
+  background:white'>个参数）所接端口</span><span style='font-size:14.0pt;font-family:
+  宋体;color:black;background:white'>、角度<span lang=EN-US>(0~180)</span></span></p>
+  </td>
+  <td width=455 valign=top style='width:341.05pt;border-top:none;border-left:
+  none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;
+  padding:0cm 5.4pt 0cm 5.4pt'>
+  <p class=MsoNormal align=center style='margin-bottom:0cm;margin-bottom:.0001pt;
+  text-align:center;line-height:normal'><span lang=EN-US><img width=310
+  height=70 id="图片 1" src="lib/exe/fetch.php?media=wm_wiki:mg995_sovor:pasted:20200310-185655.png"></span></p>
+  </td>
+ </tr>
+</table>
+</div>
+<p class=MsoNormal style='text-indent:36.0pt'><span lang=EN-US
+style='font-size:5.0pt;line-height:105%;font-family:等线;color:#666666;
+background:yellow'>&nbsp;</span></p>
 <p class=MsoNormal style='text-indent:36.0pt'><span style='font-size:16.0pt;
@@ 行 27: / 行 263: @@
 </body></html>
+{{ :wm_wiki:mg995_sovor:pasted:20200310-185643.png }}
 ==== 3.2. 文本代码编程指南 ====
@@ 行 35: / 行 271: @@
 </body></html>
-<sxh cpp; first-line: 1;highlight: [3,6,10,12]; title: we_dcmotor_test.ino>
+<sxh cpp; first-line: 1;highlight: [3,6,10,12]; title: we_servo_test.ino>
 #include "WeELF328P.h"
@@ 行 55: / 行 291: @@
 <html><body>
+<p class=MsoNormal style='text-indent:32.0pt'><span lang=EN-US
+style='font-size:16.0pt;line-height:105%;font-family:宋体;color:#222222;
+background:white'>1</span><span style='font-size:16.0pt;line-height:105%;
+font-family:宋体;color:#222222;background:white'>、不能长时间快速正反转，这样会造成电流过大，发热量大，烧毁舵机。</span><span
+lang=EN-US>&nbsp;</span></p>
+<p class=MsoNormal style='text-indent:32.0pt'><span lang=EN-US
+style='font-size:16.0pt;line-height:105%;font-family:宋体;color:#222222;
+background:white'>2</span><span style='font-size:16.0pt;line-height:105%;
+font-family:宋体;color:#222222;background:white'>、不能长时间堵转，这样会造成电流过大，发热量大，烧毁舵机。</span></p>
+<p class=MsoNormal style='text-indent:32.0pt'><span lang=EN-US
+style='font-size:16.0pt;line-height:105%;font-family:宋体;color:#222222;
+background:white'>3</span><span style='font-size:16.0pt;line-height:105%;
+font-family:宋体;color:#222222;background:white'>、电源正负极不能接错。</span></p>
 </body></html>