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--- wm_wiki:mg995_sovor:manual [2020/03/10 18:38]
juneral [1. 电机概述]
+++ wm_wiki:mg995_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 4: / 行 4: @@
 <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'>MG995</span><span
+style='font-size:16.0pt;line-height:105%;font-family:宋体'>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，云台等场景。</span></p>
 </body></html>
@@ 行 12: / 行 14: @@
 <div align=center>
-<table class=MsoTable15List5DarkAccent5 border=1 cellspacing=0 cellpadding=0
+<table class=MsoNormalTable border=0 cellspacing=0 cellpadding=0
- style='border-collapse:collapse;border:none'>
+ style='border-collapse:collapse;mso-yfti-tbllook:1184;mso-padding-alt:0cm 0cm 0cm 0cm'>
- <tr>
+ <tr style='mso-yfti-irow:0;mso-yfti-firstrow:yes'>
   <td width=173 valign=top style='width:130.1pt;border-top:solid #5B9BD5 3.0pt;
   border-left:solid #5B9BD5 3.0pt;border-bottom:solid white 2.25pt;border-right:
@@ 行 31: / 行 33: @@
   </td>
  </tr>
- <tr>
+ <tr style='mso-yfti-irow:1'>
-  <td width=173 valign=top style='width:130.1pt;border-top:none;border-left:
-  solid #5B9BD5 3.0pt;border-bottom:solid white 1.0pt;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'>额定电压</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;
-  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;
-  color:white'>9.6 VDC</span></p>
-  </td>
- </tr>
- <tr>
   <td width=173 valign=top style='width:130.1pt;border-top:none;border-left:
   solid #5B9BD5 3.0pt;border-bottom:none;border-right:solid white 1.0pt;
@@ 行 59: / 行 45: @@
   <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;
-  color:white'>7.0~10.0 VDC</span></p>
+  color:white'>3.0~7.2 VDC</span></p>
   </td>
  </tr>
- <tr>
+ <tr style='mso-yfti-irow:2'>
   <td width=173 valign=top style='width:130.1pt;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'>空载电流</span></b></p>
+  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;
@@ 行 73: / 行 59: @@
   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:16.0pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
-  font-family:宋体;color:white'>≤</span><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>100</span><span lang=EN-US style='font-size:16.0pt;
-  color:white'>150mA</span></p>
+  color:white'>mA</span></p>
   </td>
  </tr>
- <tr>
+ <tr style='mso-yfti-irow:3'>
   <td width=173 valign=top style='width:130.1pt;border-top:none;border-left:
   solid #5B9BD5 3.0pt;border-bottom:none;border-right:solid white 1.0pt;
@@ 行 84: / 行 70: @@
   <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'>空载转速</span></b></p>
+  font-family:宋体;color:white'>舵机类型</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;
+  text-align:center;line-height:normal'><span style='font-size:16.0pt;
-  color:white'>14500RPM</span><span style='font-size:16.0pt;font-family:宋体;
+  font-family:宋体;color:white'>模拟舵机</span></p>
-  color:white'>±</span><span lang=EN-US style='font-size:16.0pt;color:white'>10%</span></p>
   </td>
  </tr>
- <tr>
+ <tr style='mso-yfti-irow:4'>
   <td width=173 valign=top style='width:130.1pt;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'>减速比</span></b></p>
+  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;
@@ 行 106: / 行 91: @@
   <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;
-  color:white'>48:1</span><span style='font-size:16.0pt;font-family:宋体;
+  font-family:宋体;color:white'>13KG/</span><span lang=EN-US style='font-size:
-  color:white'>（减速输出</span><span lang=EN-US style='font-size:16.0pt;color:white'>302RPM</span><span
+.0pt;color:white'>cm</span></p>
-  style='font-size:16.0pt;font-family:宋体;color:white'>左右）</span></p>
   </td>
  </tr>
- <tr>
+ <tr style='mso-yfti-irow:5'>
   <td width=173 valign=top style='width:130.1pt;border-top:none;border-left:
   solid #5B9BD5 3.0pt;border-bottom:none;border-right:solid white 1.0pt;
@@ 行 117: / 行 101: @@
   <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'>堵转转矩</span></b></p>
+  font-family:宋体;color:white'>反应转速</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 style='font-size:16.0pt;
+  text-align:center;line-height:normal'><span lang=EN-US style='font-size:16.0pt;
-  font-family:宋体;color:white'>≥</span><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>53~62R/M</span></p>
-  color:white'>75gf.cm</span></p>
   </td>
  </tr>
- <tr>
+ <tr style='mso-yfti-irow:6'>
   <td width=173 valign=top style='width:130.1pt;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'>堵转电流</span></b></p>
+  font-family:宋体;color:white'>转动角度</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'>0</span><span style='font-size:16.0pt;font-family:
+  宋体;color:white'>°<span lang=EN-US>~180</span>°</span></p>
+  </td>
+ </tr>
+ <tr style='mso-yfti-irow:7;mso-yfti-lastrow:yes'>
+  <td width=173 valign=top style='width:130.1pt;border-top:none;border-left:
+  solid #5B9BD5 3.0pt;border-bottom:solid white 1.0pt;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'>结构材质</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;
   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:16.0pt;
-  font-family:宋体;color:white'>≤</span><span lang=EN-US style='font-size:16.0pt;
+  font-family:宋体;color:white'>金属铜齿、空心杯电机、双滚珠轴承</span></p>
-  color:white'>1.8A</span></p>
   </td>
  </tr>
@@ 行 155: / 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><span
+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;
@@ 行 229: / 行 227: @@
   <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'>驱动电机运作</span></p>
+  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;
@@ 行 242: / 行 240: @@
 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'>、速度<span lang=EN-US>(-255~255)</span></span></p>
+  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:
@@ 行 248: / 行 246: @@
   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=328
+  text-align:center;line-height:normal'><span lang=EN-US><img width=310
-  height=64 id="图片 1" src="https://www.weeemake.com.cn/wiki/lib/exe/fetch.php?media=wm_wiki:tt_dc_motor:pasted:20200310-150145.png"></span></p>
+  height=70 id="图片 1" src="lib/exe/fetch.php?media=wm_wiki:mg995_sovor:pasted:20200310-185655.png"></span></p>
   </td>
  </tr>
@@ 行 256: / 行 254: @@
 </div>
-<p class=MsoNormal style='text-indent:36.0pt'><b><span lang=EN-US
+<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:#ffffff;
+style='font-size:5.0pt;line-height:105%;font-family:等线;color:#666666;
-background:yellow'><o:p>&nbsp;</o:p></span></b></p>
+background:yellow'>&nbsp;</span></p>
-<p class=MsoNormal style='text-indent:36.0pt'><b><span style='font-size:16.0pt;
-line-height:105%;font-family:等线;color:#666666;background:yellow'>备注：</span></b><span
-style='font-size:16.0pt;line-height:105%;font-family:黑体;color:#666666;
-background:white'>电机转速正负定义，电机轴面向人，速度值为正：顺时针转；速度值为负：逆时针转</span></p>
-<p class=MsoNormal style='text-indent:36.0pt'><b><span lang=EN-US
-style='font-size:5.0pt;line-height:105%;font-family:等线;color:#ffffff;
-background:yellow'><o:p>&nbsp;</o:p></span></b></p>
 <p class=MsoNormal style='text-indent:36.0pt'><span style='font-size:16.0pt;
@@ 行 275: / 行 263: @@
 </body></html>
-{{ :wm_wiki:tt_dc_motor:pasted:20200310-150534.png }}
+{{ :wm_wiki:mg995_sovor:pasted:20200310-185643.png }}
 ==== 3.2. 文本代码编程指南 ====
@@ 行 283: / 行 271: @@
 </body></html>
-<sxh cpp; first-line: 1;highlight: [3,4,13,14,16,17,19,20,22,23]; title: we_dcmotor_test.ino>
+<sxh cpp; first-line: 1;highlight: [3,6,10,12]; title: we_servo_test.ino>
 #include "WeELF328P.h"
-WeDCMotor motor1(M1);
+Servo weservo;
-WeDCMotor motor2(M2);
+void setup()
+{
-uint8_t motorSpeed = 100;
+    weservo.attach(PORT_1);
-void setup()
-{
 }
 void loop()
 {
-  motor1.run(motorSpeed);
+  weservo.write(0);                  // sets the servo position according to the scaled value 0-180
-  motor2.run(motorSpeed);
+  delay(2000);                           // waits for the servo to get there
-  delay(2000);
+  weservo.write(180);
-  motor1.stop();
+  delay(2000);
-  motor2.stop();
-  delay(500);
-  motor1.run(-motorSpeed);
-  motor2.run(-motorSpeed);
-  delay(2000);
-  motor1.stop();
-  motor2.stop();
-  delay(500);
 }
 </sxh>
@@ 行 314: / 行 291: @@
 <html><body>
-<p class=MsoNormal style='text-indent:32.0pt;mso-char-indent-count:2.0'><span
+<p class=MsoNormal style='text-indent:32.0pt'><span lang=EN-US
-style='font-size:16.0pt;mso-ascii-font-family:Helvetica;mso-hansi-font-family:
+style='font-size:16.0pt;line-height:105%;font-family:宋体;color:#222222;
-Helvetica;mso-bidi-font-family:Helvetica;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，烧毁模块上的驱动芯片。</span></p>
+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>