arduino 的研究筆記: 3月 2016

2016年3月24日星期四

arduino pwm frequency table

he 8-bit PWM value that you set when you call the analogWrite function:

analogWrite(myPWMpin, value); Outputs a square wave

// For Arduino Uno, Nano, Micro Magician, Mini Driver, Lilly Pad and any other board using ATmega 8, 168 or 328**
 
//---------------------------------------------- Set PWM frequency for D5 & D6 -------------------------------
 
//TCCR0B = TCCR0B & B11111000 | B00000001;    // set timer 0 divisor to     1 for PWM frequency of 62500.00 Hz
//TCCR0B = TCCR0B & B11111000 | B00000010;    // set timer 0 divisor to     8 for PWM frequency of  7812.50 Hz
  TCCR0B = TCCR0B & B11111000 | B00000011;    // set timer 0 divisor to    64 for PWM frequency of   976.56 Hz (The DEFAULT)
//TCCR0B = TCCR0B & B11111000 | B00000100;    // set timer 0 divisor to   256 for PWM frequency of   244.14 Hz
//TCCR0B = TCCR0B & B11111000 | B00000101;    // set timer 0 divisor to  1024 for PWM frequency of    61.04 Hz
 
 
//---------------------------------------------- Set PWM frequency for D9 & D10 ------------------------------
 
//TCCR1B = TCCR1B & B11111000 | B00000001;    // set timer 1 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000010;    // set timer 1 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR1B = TCCR1B & B11111000 | B00000011;    // set timer 1 divisor to    64 for PWM frequency of   490.20 Hz (The DEFAULT)
//TCCR1B = TCCR1B & B11111000 | B00000100;    // set timer 1 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000101;    // set timer 1 divisor to  1024 for PWM frequency of    30.64 Hz
 
//---------------------------------------------- Set PWM frequency for D3 & D11 ------------------------------
 
//TCCR2B = TCCR2B & B11111000 | B00000001;    // set timer 2 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000010;    // set timer 2 divisor to     8 for PWM frequency of  3921.16 Hz
//TCCR2B = TCCR2B & B11111000 | B00000011;    // set timer 2 divisor to    32 for PWM frequency of   980.39 Hz
  TCCR2B = TCCR2B & B11111000 | B00000100;    // set timer 2 divisor to    64 for PWM frequency of   490.20 Hz (The DEFAULT)
//TCCR2B = TCCR2B & B11111000 | B00000101;    // set timer 2 divisor to   128 for PWM frequency of   245.10 Hz
//TCCR2B = TCCR2B & B11111000 | B00000110;    // set timer 2 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000111;    // set timer 2 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
 
//For Arduino Mega1280, Mega2560, MegaADK, Spider or any other board using ATmega1280 or ATmega2560**
 
//---------------------------------------------- Set PWM frequency for D4 & D13 ------------------------------
 
//TCCR0B = TCCR0B & B11111000 | B00000001;    // set timer 0 divisor to     1 for PWM frequency of 62500.00 Hz
//TCCR0B = TCCR0B & B11111000 | B00000010;    // set timer 0 divisor to     8 for PWM frequency of  7812.50 Hz
  TCCR0B = TCCR0B & B11111000 | B00000011;    <// set timer 0 divisor to    64 for PWM frequency of   976.56 Hz (Default)
//TCCR0B = TCCR0B & B11111000 | B00000100;    // set timer 0 divisor to   256 for PWM frequency of   244.14 Hz
//TCCR0B = TCCR0B & B11111000 | B00000101;    // set timer 0 divisor to  1024 for PWM frequency of    61.04 Hz
 
 
//---------------------------------------------- Set PWM frequency for D11 & D12 -----------------------------
 
//TCCR1B = TCCR1B & B11111000 | B00000001;    // set timer 1 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000010;    // set timer 1 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR1B = TCCR1B & B11111000 | B00000011;    // set timer 1 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR1B = TCCR1B & B11111000 | B00000100;    // set timer 1 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR1B = TCCR1B & B11111000 | B00000101;    // set timer 1 divisor to  1024 for PWM frequency of    30.64 Hz
 
//---------------------------------------------- Set PWM frequency for D9 & D10 ------------------------------
 
//TCCR2B = TCCR2B & B11111000 | B00000001;    // set timer 2 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000010;    // set timer 2 divisor to     8 for PWM frequency of  3921.16 Hz
//TCCR2B = TCCR2B & B11111000 | B00000011;    // set timer 2 divisor to    32 for PWM frequency of   980.39 Hz
  TCCR2B = TCCR2B & B11111000 | B00000100;    // set timer 2 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR2B = TCCR2B & B11111000 | B00000101;    // set timer 2 divisor to   128 for PWM frequency of   245.10 Hz
//TCCR2B = TCCR2B & B11111000 | B00000110;    // set timer 2 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR2B = TCCR2B & B11111000 | B00000111;    // set timer 2 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
//---------------------------------------------- Set PWM frequency for D2, D3 & D5 ---------------------------
 
//TCCR3B = TCCR3B & B11111000 | B00000001;    // set timer 3 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR3B = TCCR3B & B11111000 | B00000010;    // set timer 3 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR3B = TCCR3B & B11111000 | B00000011;    // set timer 3 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR3B = TCCR3B & B11111000 | B00000100;    // set timer 3 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR3B = TCCR3B & B11111000 | B00000101;    // set timer 3 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
//---------------------------------------------- Set PWM frequency for D6, D7 & D8 ---------------------------
 
//TCCR4B = TCCR4B & B11111000 | B00000001;    // set timer 4 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR4B = TCCR4B & B11111000 | B00000010;    // set timer 4 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR4B = TCCR4B & B11111000 | B00000011;    // set timer 4 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR4B = TCCR4B & B11111000 | B00000100;    // set timer 4 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR4B = TCCR4B & B11111000 | B00000101;    // set timer 4 divisor to  1024 for PWM frequency of    30.64 Hz
 
 
//---------------------------------------------- Set PWM frequency for D44, D45 & D46 ------------------------
 
//TCCR5B = TCCR5B & B11111000 | B00000001;    // set timer 5 divisor to     1 for PWM frequency of 31372.55 Hz
//TCCR5B = TCCR5B & B11111000 | B00000010;    // set timer 5 divisor to     8 for PWM frequency of  3921.16 Hz
  TCCR5B = TCCR5B & B11111000 | B00000011;    // set timer 5 divisor to    64 for PWM frequency of   490.20 Hz
//TCCR5B = TCCR5B & B11111000 | B00000100;    // set timer 5 divisor to   256 for PWM frequency of   122.55 Hz
//TCCR5B = TCCR5B & B11111000 | B00000101;    // set timer 5 divisor to  1024 for PWM frequency of    30.64 Hz

Reference : https://arduino-info.wikispaces.com/Arduino-PWM-Frequency

2016年3月18日星期五

一般伺服馬達有三條線，電源（紅色）、接地（黑或棕色）、訊號線（白、黃、橘、藍，甚至是黑色）。透過訊號線傳送PWM脈波來控制軸柄的停止位置旋轉角度，這個訊號脈波必須每秒重複50次（也就是50Hz），而脈衝持續時間長短便代表了馬達該將軸柄轉到什麼位置，範圍從1.0ms到2.0ms（millisecond，毫秒，千分之一秒），若想置中則是1.5ms；也可將1.0ms當做角度0度，那麼1.5ms會是90度，2.0ms則是轉到底180度。注意，也有可能反過來。

不過每個廠牌型號的伺服馬達可允許旋轉的角度各不相同，也就是說可接受的訊號脈衝範圍也不相同，必須查閱產品資料規格書，若超出範圍可能會損害伺服馬達。底下是Tower Pro SG90的規格：

重量：9g
尺寸：23*12.2*29mm
工作電壓：4.8V
轉矩：1.8kg-cm，當工作電壓為4.8V時
運轉速度：0.1秒 ∕ 60度，當工作電壓為4.8V時
脈衝寬度範圍：500~2400µs
死頻帶寬度（dead band width）：10µs

從中我們可知，可允許的脈衝範圍是500~2400µs，也就是0.5~2.4ms，比剛剛說的一般範圍還要寬，也就代表這個伺服馬達能旋轉的角度更大。另外有項值得一提的數據是死頻帶寬度，意思是說，因為訊號可能不穩上下起伏，當這一次脈衝寬度與上一次相差不超過死頻帶寬度時，伺服馬達便不會動作。

硬體線路很簡單，因為只有一個伺服馬達，我直接由Arduino的5V腳位供電。若想使用超過兩個，則應以另外的電源供電，而且要記得共同接地。

電路圖如下，除了電源5V與接地外，訊號線接往Arduino的數位腳位9。

照片如下，Tower Pro SG90的三條線顏色分別是黃、紅、棕，對應訊號、電源、接地。

接下來是軟體的部份，先讓伺服馬達來回旋轉吧。

#include <Servo.h>

Servo myservo; // 建立Servo物件，控制伺服馬達

void setup()
{
  myservo.attach(9, 500, 2400); // 修正脈衝寬度範圍
}

void loop()
{
for(int i = 500; i <= 2400; i+=100){
    myservo.writeMicroseconds(i); // 直接以脈衝寬度控制

    delay(300);
}
for(int i = 2400; i >= 500; i-=100){
    myservo.writeMicroseconds(i);

    delay(300);
}
}

A : BLK
A- : GRN
B : RED
B- : BLU

Reference : http://yehnan.blogspot.tw/2013/09/arduinotower-pro-sg90.html

2016年3月15日星期二

TB6560 研究筆記

http://goods.ruten.com.tw/item/show?21529132593035

57步進馬達套裝 57BYGH51 兩相4線含驅動器 TB6560

arduino + TB6560 :

Step 1: connection

Connection to arduino

pin 9 (Step pin) to CLK+,

pin 8 (Dir pin) to CW+,

CLK- and CW- connect to GND arduino.

Do not connect EN+ and EN- to any ARDUINO PIN.

Stepper motor connection, you need to know which color is A+, A-, B+ and B-, according to the stepper motor spec. sheet.

It only works for 1/8 step ( S3 on and S4 on) and 1/16 step (S4 only on, S3 off), half and full bridge does not work (for my case).

Amp setting can be change according to the table on the DRIVER.

Step 2: THE CODE

/*Code from http://www.schmalzhaus.com/EasyDriver/Examples/Ea... */

int Distance = 0; // Record the number of steps we've taken

void setup() {

pinMode(8, OUTPUT); // direction

pinMode(9, OUTPUT); // step

digitalWrite(8, LOW);

digitalWrite(9, LOW);

}

void loop() {

digitalWrite(9, HIGH);

delayMicroseconds(100);

digitalWrite(9, LOW);

delayMicroseconds(100);

Distance = Distance + 1; // record this step // Check to see if we are at the end of our move

// two rotation for 1/8 bridge and 1 rotation for 1/6 bridge (for this code)

if (Distance == 3200) { // We are! Reverse direction (invert DIR signal)

if (digitalRead(8) == LOW) {

digitalWrite(8, HIGH); }

else {

digitalWrite(8, LOW);

} // Reset our distance back to zero since we're // starting a new move

Distance = 0; // Now pause for half a second delay(500);

}

Reference : http://www.electrodragon.com/w/TB6560_3A_Stepper_Motor_Driver_Board_Single-Axis

Reference : http://world.taobao.com/item/43795521964.htm?fromSite=main&spm=a1z3o.7695460.0.0.RDMGep

Reference : http://www.instructables.com/id/ARDUINO-UNO-TB6560-Stepper-motor-driver/

arduino + HC06 blue-tooth

Reference : http://swf.com.tw/?p=712

2016年3月14日星期一

ardunio + pulse sensor

Reference : https://www.facebook.com/notes/%E5%91%82%E8%8A%B3%E5%85%83/beta-version-of-my-heartbeat-app/10153750523849549

2016年3月5日星期六

arduino PWM 筆記

看過 Arduino 基本 Pin 介紹 (這篇)，後我們知道有 Arduino 有 digital pin 及 analog pin，digital pin 可以在 pin mode 設定 output/input 來決定 digital pin 是輸出數位訊號，還是接收數位訊。

But！analog pin (A0~A5) 只能接收類比訊號，通常我們的 sensor 都是利用 analog pin 接收外界訊息 (TMP 系列就是接在 analog pin 上的)，那我們要怎麼輸出類比訊號？！

靠的就是，Pulse Width Modulation (PWM)，脈衝寬度調變。

切換週期 T，通常我們會用頻率 f (Hz) 來表達，在 Arduino pin 上基本的切換頻率大約是 490Hz，部分的 pin 是 980 Hz (Arduino Uno pin 5&6)。
Duty Cycle = Ton/Toff (%)，為 ON 的時間與 OFF相除的百分比
模擬出的電壓 V = Von x duty cycle (%)，可以知道 duty cycle 越高模擬出的電壓越高，當完全沒有 OFF 的時候，duty cycle = 100%，V = Von 為最大可輸出的電壓，這時候電燈會最亮

注意看一下 Arduino 的 digital pin 會發現，有些編號旁有 "~" 符號，這些 pin 就是可以使用 PWM pin。

Arduino PWM 的使用方式其實超簡單的，IDE code 為 analogWrite ()。

格式：analogWrite(pin, value)

2016年3月24日 星期四

arduino pwm frequency table

2016年3月18日 星期五

SG-90 馬達 和 57BYGH82

2016年3月15日 星期二