TB6612FNG連接Arduino nano

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使用Library涵式庫
https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library


連接線使用
TB6612FNG上方PWM的腳位需與Arduino的PWM腳位連接才能使用
在Arduino nano上為3、5、6、9、10、11共6個
接線可以參考
https://swf.com.tw/?p=1066

在我的這邊腳位接法

TB6612FNG	Arduino nano
PWMA	3
AIN2	4
AIN1	5
STBY	2
BIN1	11
BIN2	10
PWMB	9

語法內如果加入時間會無法多個馬達同動

1. motor1.drive(-155,1000);

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因此拿掉改為直接給PWM訊號

1. motor1.drive(-155);

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Library範例加上自己修改的去跑

1. /******************************************************************************
   
2. TestRun.ino
   
3. TB6612FNG H-Bridge Motor Driver Example code
   
4. Michelle @ SparkFun Electronics
   
5. 8/20/16
   
6. https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library
   
7. 
   
8. Uses 2 motors to show examples of the functions in the library.  This causes
   
9. a robot to do a little 'jig'.  Each movement has an equal and opposite movement
   
10. so assuming your motors are balanced the bot should end up at the same place it
    
11. started.
    
12. 
    
13. Resources:
    
14. TB6612 SparkFun Library
    
15. 
    
16. Development environment specifics:
    
17. Developed on Arduino 1.6.4
    
18. Developed with ROB-9457
    
19. ******************************************************************************/
    
20. 
    
21. // This is the library for the TB6612 that contains the class Motor and all the
    
22. // functions
    
23. #include <SparkFun_TB6612.h>
    
24. 
    
25. // Pins for all inputs, keep in mind the PWM defines must be on PWM pins
    
26. // the default pins listed are the ones used on the Redbot (ROB-12097) with
    
27. // the exception of STBY which the Redbot controls with a physical switch
    
28. 
    
29. #define PWMA 3//D3
    
30. #define AIN2 4//D5
    
31. #define AIN1 5//D6
    
32. 
    
33. #define STBY 2//D2
    
34. 
    
35. #define BIN1 11//D8
    
36. #define BIN2 10//D7
    
37. #define PWMB 9//D6
    
38. 
    
39. // these constants are used to allow you to make your motor configuration
    
40. // line up with function names like forward.  Value can be 1 or -1
    
41. const int offsetA = 1;
    
42. const int offsetB = 1;
    
43. 
    
44. // Initializing motors.  The library will allow you to initialize as many
    
45. // motors as you have memory for.  If you are using functions like forward
    
46. // that take 2 motors as arguements you can either write new functions or
    
47. // call the function more than once.
    
48. Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
    
49. Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);
    
50. 
    
51. void setup()
    
52. {
    
53. //Nothing here
    
54. }
    
55. 
    
56. 
    
57. void loop()
    
58. {
    
59.    //Use of the drive function which takes as arguements the speed
    
60.    //and optional duration.  A negative speed will cause it to go
    
61.    //backwards.  Speed can be from -255 to 255.  Also use of the
    
62.    //brake function which takes no arguements.
    
63.   //digitalWrite(STBY, HIGH);
    
64.    
    
65.    //Use of the forward function, which takes as arguements two motors
    
66.    //and optionally a speed.  If a negative number is used for speed
    
67.    //it will go backwards
    
68.     motor2.drive(55);
    
69.     motor1.drive(55);
    
70.    
    
71.     delay(3000);
    
72.     motor2.drive(155);
    
73.     motor1.drive(155);
    
74.     delay(1000);
    
75.     motor2.drive(255);
    
76.     motor1.drive(255);
    
77.     delay(2000);
    
78.     motor2.drive(-155);
    
79.     motor1.drive(-155);
    
80.     delay(1000);
    
81.     //digitalWrite(STBY,LOW);
    
82.     delay(1000);
    
83.    
    
84.     delay(1000);
    
85.     delay(1000);
    
86.    //Use of the back function, which takes as arguments two motors
    
87.    //and optionally a speed.  Either a positive number or a negative
    
88.    //number for speed will cause it to go backwards
    
89.    brake(motor1, motor2);
    
90.    delay(5000);
    
91.    //Use of the brake function which takes as arguments two motors.
    
92. 
    
93. }

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