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--- wm_wiki:adapter_module:manual [2020/03/12 15:52]
juneral [2. 参数规格]
+++ wm_wiki:adapter_module:manual [2020/03/12 16:11] (当前版本)
juneral [1. 简要概述]
@@ 行 6: / 行 6: @@
 .0pt;font-family:宋体'>模块是一个转接适配模块，用于适配<span lang=EN-US>ELF</span>主控板接舵机、<span
 lang=EN-US>RGB</span>灯条、<span lang=EN-US>DS18B20</span>温度棒、土壤湿度传感器等。</span></p>
+<p class=MsoNormal style='text-indent:32.0pt'><span style='font-size:16.0pt;
+font-family:宋体'>模块外观：</span></p>
 </body></html>
+{{ :wm_wiki:adapter_module:pasted:20200312-161105.png }}
 ===== 2. 参数规格 =====
 <html><body>
@@ 行 90: / 行 95: @@
 </body></html>
-===== 3. 功能特性 =====
-<html><body>
-<p class=MsoListParagraph style='margin-left:42.0pt;text-indent:-21.0pt'><span
-lang=EN-US style='font-size:16.0pt;font-family:Wingdings'>l<span
-style='font:7.0pt "Times New Roman"'>&nbsp; </span></span><span
-style='font-size:16.0pt'>准确的控制编码电机的位置</span></p>
-<p class=MsoListParagraph style='margin-left:42.0pt;text-indent:-21.0pt'><span
+===== 3. 连接方式 =====
-lang=EN-US style='font-size:16.0pt;font-family:Wingdings'>l<span
-style='font:7.0pt "Times New Roman"'>&nbsp; </span></span><span
-style='font-size:16.0pt'>提供实时的位置和速度反馈</span></p>
-<p class=MsoListParagraph style='margin-left:42.0pt;text-indent:-21.0pt'><span
-lang=EN-US style='font-size:16.0pt;font-family:Wingdings'>l<span
-style='font:7.0pt "Times New Roman"'>&nbsp; </span></span><span
-style='font-size:16.0pt'>采用排针排母组合方式，防止反接</span></p>
-<p class=MsoListParagraph style='margin-left:42.0pt;text-indent:-21.0pt'><span
-lang=EN-US style='font-size:16.0pt;font-family:Wingdings'>l<span
-style='font:7.0pt "Times New Roman"'>&nbsp; </span></span><span
-style='font-size:16.0pt'>模块体积小巧，接插方便</span></p>
-</body></html>
-===== 4. 连接方式 =====
 <html><body>
-<p class=MsoNormal style='text-indent:32.0pt'><span style='font-size:16.0pt'>本模块目前只能用于<span
-lang=EN-US>ELF</span>主控板上，可以接插在<span lang=EN-US>ELF</span>主控板上的<span
-lang=EN-US>port3-port6</span>共<span lang=EN-US>4</span>个口上，以及<span lang=EN-US>2560</span>比赛扩展板的<span
-lang=EN-US>port7-port9</span>共<span lang=EN-US>3</span>个口上。</span></p>
-<p class=MsoNormal align=center style='text-align:center'><span lang=EN-US><img
-width=393 height=168
-src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:compass_sensor:pasted:20190511-16132.png"></span></p>
-<p class=MsoNormal style='text-indent:32.0pt'><span style='font-size:16.0pt'>直流电机是接插在<span
-lang=EN-US>ELF</span>主控板的橘红色端子上，编码电机是接插在驱动模块的白色端子上。编码电机和直流电机不可同时插上，这样会造成电流过大且不好控制的问题。</span></p>
-<p class=MsoTitle><span lang=EN-US>&nbsp;</span></p>
 </body></html>
-===== 5. 编程指南 =====
-==== 5.1. 模块功能及图形化编程指南 ====
-<html><body>
-<p class=MsoNormal style='text-indent:21.0pt'><span lang=EN-US
-style='font-size:16.0pt;font-family:华文楷体;color:#222222;background:white'>&nbsp;&nbsp;&nbsp;
-</span><span style='font-size:16.0pt;font-family:宋体;color:#222222;background:
-white'>该模块支持的图形化编程平台有<span lang=EN-US><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'>WeeeCode</span></span><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'>、<span lang=EN-US>Mixly_Arduino</span></span><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>
-  <td width=257 valign=top style='width:192.65pt;border:solid windowtext 1.0pt;
-  padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><b><span
-  style='font-size:14.0pt;font-family:华文楷体;color:black;background:white'>模块功能</span></b></p>
-  </td>
-  <td width=223 valign=top style='width:166.95pt;border:solid windowtext 1.0pt;
-  border-left:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><b><span
-  style='font-size:14.0pt;font-family:华文楷体;color:black;background:white'>需传参数</span></b></p>
-  </td>
-  <td width=462 valign=top style='width:346.5pt;border:solid windowtext 1.0pt;
-  border-left:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><b><span
-  style='font-size:14.0pt;font-family:华文楷体;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:华文楷体;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:
-px'><span style='box-sizing: border-box'><span style='font-size:14.0pt;
-  font-family:华文楷体;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:华文楷体;color:black;background:
-  white'>)</span></span></b></p>
-  </td>
- </tr>
- <tr>
-  <td width=257 style='width:192.65pt;border:solid windowtext 1.0pt;border-top:
-  none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal><span style='font-size:14.0pt;font-family:华文楷体;color:black;
-  background:white'>设置<span lang=EN-US>0</span>点</span></p>
-  </td>
-  <td width=223 style='width:166.95pt;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><span lang=EN-US style='font-size:14.0pt;font-family:华文楷体;
-  color:black;background:white'>(1</span><span style='font-size:14.0pt;
-  font-family:华文楷体;color:black;background:white'>个参数）端口</span></p>
-  </td>
-  <td width=462 valign=top style='width:346.5pt;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='text-align:center'><span lang=EN-US><img
-  width=365 height=183 id="图片 7" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:encoder_motor_driver:pasted:20200221-151728.png"></span></p>
-  </td>
- </tr>
- <tr>
-  <td width=257 style='width:192.65pt;border:solid windowtext 1.0pt;border-top:
-  none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal><span style='font-size:14.0pt;font-family:华文楷体;color:black;
-  background:white'>以某速度运行（不检测速度）</span></span></p>
-  </td>
-  <td width=223 style='width:166.95pt;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><span lang=EN-US style='font-size:14.0pt;font-family:华文楷体;
-  color:black;background:white'>(2</span><span style='font-size:14.0pt;
-  font-family:华文楷体;color:black;background:white'>个参数）端口、速度</span></p>
-  </td>
-  <td width=462 valign=top style='width:346.5pt;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='text-align:center'><span lang=EN-US><img
-  width=409 height=185 id="图片 4" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:encoder_motor_driver:pasted:20200221-151926.png"></span></p>
-  </td>
- </tr>
- <tr>
-  <td width=257 style='width:192.65pt;border:solid windowtext 1.0pt;border-top:
-  none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal><span style='font-size:14.0pt;font-family:华文楷体;color:black;
-  background:white'>以某速度运行（检测速度），注：这个速度是</span><span lang=EN-US><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:0px'>50ms</span></span><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:0px'>的脉冲数</span></span></p>
-  </td>
-  <td width=223 style='width:166.95pt;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><span lang=EN-US style='font-size:14.0pt;font-family:华文楷体;
-  color:black;background:white'>(2</span><span style='font-size:14.0pt;
-  font-family:华文楷体;color:black;background:white'>个参数）端口、速度</span></p>
-  </td>
-  <td width=462 valign=top style='width:346.5pt;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='text-align:center'><span lang=EN-US><img
-  width=482 height=190 id="图片 5" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:encoder_motor_driver:pasted:20200221-152059.png"></span></p>
-  </td>
- </tr>
- <tr>
-  <td width=257 style='width:192.65pt;border:solid windowtext 1.0pt;border-top:
-  none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal><span style='font-size:14.0pt;font-family:华文楷体;color:black;
-  background:white'>以某速度在移动某位置（相对位置）</span></span></p>
-  </td>
-  <td width=223 style='width:166.95pt;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><span lang=EN-US style='font-size:14.0pt;font-family:华文楷体;
-  color:black;background:white'>(2</span><span style='font-size:14.0pt;
-  font-family:华文楷体;color:black;background:white'>个参数）端口、移动量</span></p>
-  </td>
-  <td width=462 valign=top style='width:346.5pt;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='text-align:center'><span lang=EN-US><img
-  width=342 height=191 id="图片 6" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:encoder_motor_driver:pasted:20200221-152107.png"></span></p>
-  </td>
- </tr>
-</table>
-</div>
-<p class=MsoNormal style='text-indent:21.0pt'><span lang=EN-US
-style='font-size:16.0pt;font-family:华文楷体;color:white'>&nbsp;</span></p>
-<p class=MsoTitle style='text-indent:31.0pt'><span style='font-size:16.0pt;
-font-family:等线'>图形化编程示例：</span></p>
-</body></html>
-{{ :wm_wiki:encoder_motor_driver:pasted:20200221-153031.png }}
-==== 5.2. 文本代码编程指南 ====
-<html><body>
-<p class=MsoTitle style='text-indent:31.0pt'><span lang=EN-US style='font-size:
-.0pt;font-family:等线'>Arduino</span><span style='font-size:16.0pt;font-family:
-等线'>编程函数：</span></p>
-<div align=center>
-<table class=MsoTableGrid border=1 cellspacing=0 cellpadding=0
- style='border-collapse:collapse;border:none'>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span
-  style='font-size:14.0pt'>函数名</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;border:solid windowtext 1.0pt;
-  border-left:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span
-  style='font-size:14.0pt'>功能</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>WeEncoderMotor(uint8_t
-  port)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>设置端口号</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>run(int16_t speed)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>以某速度运行（不检测速度）</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>getCurrentPosition(void)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>获取当前的位置</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>setPositionOrigin(void)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>设置</span><span lang=EN-US style='font-size:14.0pt;
-  font-family:"Calibri",sans-serif'>0</span><span style='font-size:14.0pt'>点</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>stop(void)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>停止</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>moveTo(uint8_t
-  speed,long position)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>以某速度移动到某位置（绝对位置）</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>move(uint8_t
-  speed,long position)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>以某速度在移动某位置（相对位置）</span></p>
-  </td>
- </tr>
- <tr>
-  <td width=344 valign=top style='width:257.8pt;border:solid windowtext 1.0pt;
-  border-top:none;padding:0cm 5.4pt 0cm 5.4pt'>
-  <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>runSpeed(int16_t
-  speed)</span></p>
-  </td>
-  <td width=544 valign=top style='width:408.05pt;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='text-align:center'><span
-  style='font-size:14.0pt'>以某速度运行（检测速度），注：这个速度是</span><span lang=EN-US
-  style='font-size:14.0pt;font-family:"Calibri",sans-serif'>50ms</span><span
-  style='font-size:14.0pt'>的脉冲数</span></p>
-  </td>
- </tr>
-</table>
-</div>
-<p class=MsoTitle style='text-indent:31.0pt'><span lang=EN-US style='font-size:
-.0pt;font-family:等线'>&nbsp;</span></p>
-<p class=MsoTitle style='text-indent:31.0pt'><span lang=EN-US style='font-size:
-.0pt;font-family:等线'>Arduino</span><span style='font-size:16.0pt;font-family:
-等线'>编程示例：</span></p>
-</body></html>
-<sxh cpp; first-line: 1;highlight: [89,92]; title: encoder_motor_test.ino>
-#include "WeELF328P.h"
-WeEncoderMotor motor1(PORT_3);
-uint8_t motorSpeed = 100;
-void setup()
-{
-  Serial.begin(9600);
-  delay(2000);
-  motor1.setPositionOrigin();
-}
-void loop()
-{
-  Serial.println(motor1.getCurrentPosition());
-  motor1.moveTo(motorSpeed,585);
-  delay(3000);
-  Serial.println(motor1.getCurrentPosition());
-  motor1.moveTo(motorSpeed,1);
-  delay(3000);
-}
-</sxh>
-===== 6. 注意事项 =====
-<html><body>
-<p class=MsoNormal style='text-indent:36.0pt'><span style='font-size:16.0pt'>和使用电机一样，不能长时间快速正反转，这样会造成电流过大，发热量大，烧毁模块上的驱动芯片。</span></p>
-</body></html>