Simplemente se conecta la base al pin del arduino, para que envié la señal, el Colector al motor o la luz y el Emisor a la tierra junto con el otro extremo de la batería, y el otro extremo del motor a la batería.
Para utilizar un motor dc con polaridad en un arduino sin utilizar ningún chip o integrado, se podría realizar de la siguiente forma: (descarga estos archivos al final de esta entrada del blog)
1. Crear una carperta en las librerias que se llame MotorDC o como desee.
2. Buscar en las librerías del arduino dentro de la carpeta Stepper y copiarlos en MotorDC (básicamente son dos Stepper.h y Stepper.cpp)
3. Cambiar de nombre a los archivos por MotorDC.h y MotorDC.cpp respectivamente.
4. Abrir el archivo MotorDC.cpp y eliminar las siguientes líneas.
case 1: /* 11 */ digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, HIGH); break; case 2: /* 10 */ digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, LOW); break; case 3: /* 00 */ digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, LOW); break;
6. Remplace todos los Stepper por MotorDC. Debería quedar de esta forma:
/* MotorDC.cpp basado en: Stepper.cpp - - MotorDC library for Wiring/Arduino - Version 0.4 */
#include "MotorDC.h"
/* * two-wire constructor. * Sets which wires should control the motor. */
MotorDC::MotorDC(int number_of_steps, int motor_pin_1, int motor_pin_2) { this->step_number = 0; // which step the motor is on this->speed = 0; // the motor speed, in revolutions per minute this->direction = 0; // motor direction this->last_step_time = 0; // time stamp in ms of the last step taken this->number_of_steps = number_of_steps; // total number of steps for this motor
// Arduino pins for the motor control connection: this->motor_pin_1 = motor_pin_1; this->motor_pin_2 = motor_pin_2; // setup the pins on the microcontroller: pinMode(this->motor_pin_1, OUTPUT); pinMode(this->motor_pin_2, OUTPUT);
// When there are only 2 pins, set the other two to 0: this->motor_pin_3 = 0; this->motor_pin_4 = 0; // pin_count is used by the stepMotor() method: this->pin_count = 2; } /* * constructor for four-pin version * Sets which wires should control the motor. */ MotorDC::MotorDC(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4) { this->step_number = 0; // which step the motor is on this->speed = 0; // the motor speed, in revolutions per minute this->direction = 0; // motor direction this->last_step_time = 0; // time stamp in ms of the last step taken this->number_of_steps = number_of_steps; // total number of steps for this motor // Arduino pins for the motor control connection: this->motor_pin_1 = motor_pin_1; this->motor_pin_2 = motor_pin_2; this->motor_pin_3 = motor_pin_3; this->motor_pin_4 = motor_pin_4; // setup the pins on the microcontroller: pinMode(this->motor_pin_1, OUTPUT); pinMode(this->motor_pin_2, OUTPUT); pinMode(this->motor_pin_3, OUTPUT); pinMode(this->motor_pin_4, OUTPUT); // pin_count is used by the stepMotor() method: this->pin_count = 4; } /* Sets the speed in revs per minute */ void MotorDC::setSpeed(long whatSpeed) { this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed; } /* Moves the motor steps_to_move steps. If the number is negative, the motor moves in the reverse direction. */
void MotorDC::step(int steps_to_move) { int steps_left = abs(steps_to_move); // how many steps to take // determine direction based on whether steps_to_mode is + or -: if (steps_to_move > 0) {this->direction = 1;} if (steps_to_move < 0) {this->direction = 0;} // decrement the number of steps, moving one step each time: while(steps_left > 0) { // move only if the appropriate delay has passed: if (millis() - this->last_step_time >= this->step_delay) { // get the timeStamp of when you stepped: this->last_step_time = millis(); // increment or decrement the step number, // depending on direction: if (this->direction == 1) { this->step_number++; if (this->step_number == this->number_of_steps) { this->step_number = 0; } } else { if (this->step_number == 0) { this->step_number = this->number_of_steps; } this->step_number--; } // decrement the steps left: steps_left--; // step the motor to step number 0, 1, 2, or 3: stepMotor(this->step_number % 4); } } } /* * Moves the motor forward or backwards. */
void MotorDC::stepMotor(int thisStep) { if (this->pin_count == 2) { switch (thisStep) { case 0: /* 01 */ digitalWrite(motor_pin_1, LOW); digitalWrite(motor_pin_2, HIGH); break; } } if (this->pin_count == 4) { switch (thisStep) { case 0: // 1010 digitalWrite(motor_pin_1, HIGH); digitalWrite(motor_pin_2, LOW); break; } } } /* version() returns the version of the library: */
int MotorDC::version(void) { return 4; }
7. Con el archivo MotorDC.h simplemente reemplace el Stepper por MotorDC, debería quedar de esta forma:
/* MotorDC.h basado en: Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4 */ // ensure this library description is only included once #ifndef MotorDC_h #define MotorDC_h // library interface description class MotorDC { public: // constructors: MotorDC(int number_of_steps, int motor_pin_1, int motor_pin_2); MotorDC(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4); // speed setter method: void setSpeed(long whatSpeed); // mover method: void step(int number_of_steps); int version(void); private: void stepMotor(int this_step); int direction; // Direction of rotation int speed; // Speed in RPMs unsigned long step_delay; // delay between steps, in ms, based on speed int number_of_steps; // total number of steps this motor can take int pin_count; // whether you're driving the motor with 2 or 4 pins int step_number; // which step the motor is on // motor pin numbers: int motor_pin_1; int motor_pin_2; int motor_pin_3; int motor_pin_4; long last_step_time; // time stamp in ms of when the last step was taken }; #endif
8. Abre el programa Arduino y verifica que se encuentre la librería MotorDC
// initialize of the MotorDC library: MotorDC myMotorDC1(motorSteps, motorPin1,motorPin2); MotorDC myMotorDC2(motorSteps, motorPin2,motorPin1); //crear dos inicializaciones, con los pines al reves para darle polaridad
void setup() {
myMotorDC1.setSpeed(5); myMotorDC2.setSpeed(5); //probar las velocidades, la mejor es 5
// Initialize the Serial port: Serial.begin(9600); }
