背景：Maqueenはmicro:bitで制御する設計だが、WiFiも使えるESP32で制御したい
取り組み：micro:bitユニバーサル基板によりコネクタ仕様をmicro:bitとコンバチにしてESP32とMaqueenのバスを接続する
結果：マイコン用のソケットを買っていないので空中配線でmicro:bitユニバーサル基板のI2CとESP32-C3のI2Cを接続、サーボ制御までは行えた
詳細：
ESP32-C3のGPIO6,GPIO7とmicro:bitユニバーサル基板のSDA,SCLと接続（空中配線）
[
:W400]
以下はサーボ制御用ドライバとテストプログラム
#
# motor control for Maqueen
# MPU: ESP32-C3
#
CTLR_ADDR=0x10
MOTOR_L = 0
MOTOR_R = 2
FORWARD=0
BACK=1
DEFAULT_SPEED=30
from machine import Pin, I2C
i2c = I2C(0, scl=Pin(7), sda=Pin(6), freq=100000)
def stop(i2c):
i2c.writeto(0x10,bytes((MOTOR_L,FORWARD,00)))
i2c.writeto(0x10,bytes((MOTOR_R,FORWARD,00)))
def go(i2c,speed=DEFAULT_SPEED):
i2c.writeto(0x10,bytes((MOTOR_L,FORWARD,speed)))
i2c.writeto(0x10,bytes((MOTOR_R,FORWARD,speed)))
def back(i2c,speed=DEFAULT_SPEED):
i2c.writeto(0x10,bytes((MOTOR_L,BACK,speed)))
i2c.writeto(0x10,bytes((MOTOR_R,BACK,speed)))
def rotate(i2c,direction,speed=DEFAULT_SPEED):
if direction == 'L':
i2c.writeto(0x10,bytes((MOTOR_L,BACK,speed)))
i2c.writeto(0x10,bytes((MOTOR_R,FORWARD,speed)))
elif direction == 'R':
i2c.writeto(0x10,bytes((MOTOR_L,FORWARD,speed)))
i2c.writeto(0x10,bytes((MOTOR_R,BACK,speed)))
def turn(i2c,direction,speed=DEFAULT_SPEED):
slow_speed = int(speed * 0.7)
if direction == 'L':
i2c.writeto(0x10,bytes((MOTOR_L,FORWARD,slow_speed)))
i2c.writeto(0x10,bytes((MOTOR_R,FORWARD,speed)))
elif direction == 'R':
i2c.writeto(0x10,bytes((MOTOR_L,FORWARD,speed)))
i2c.writeto(0x10,bytes((MOTOR_R,FORWARD,slow_speed)))
#
# test program
#
def test(i2c):
go(i2c)
time.sleep(3)
stop(i2c)
time.sleep(3)
rotate(i2c,'L')
time.sleep(3)
rotate(i2c,'R')
time.sleep(3)
turn(i2c,'L')
time.sleep(3)
turn(i2c,'R')
time.sleep(3)
stop(i2c)
#
# test
#
import time
test(i2c)■参考にした記事
情報ありがとうございます。
12月 | 2021 | macsbug
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