Atomic Motion Base Arduino 使用教程

1.准备工作

1.环境配置：参考Arduino IDE上手教程完成IDE安装, 并根据实际使用的开发板安装对应的板管理, 与需要的驱动库。
2.使用到的驱动库:
3.使用到的硬件产品:

2.案例程序

案例说明

Atomic Motion Base 是一款搭配Atom系列主控使用的舵机+直流电机驱动底座。本案例将基于Atomic Motion Base 实现 4 通道舵机控制与 2 通道直流电机控制。

直流电机与舵机驱动

cpp 
#include "M5Unified.h"
#include "M5GFX.h"
#include "M5AtomicMotion.h"
 
M5AtomicMotion AtomicMotion;
 
void setup()
{
    auto cfg = M5.config();
    M5.begin(cfg);
 
    M5.Display.setTextColor(GREEN);
    M5.Display.setTextDatum(middle_center);
    M5.Display.setTextSize(2);
    M5.Display.drawString("Atomic Init", M5.Display.width() / 2, M5.Display.height() / 2);
 
    m5::board_t board = M5.getBoard();
 
    uint8_t sda = 0, scl = 0;
 
    if (board == m5::board_t::board_M5AtomLite || board == m5::board_t::board_M5AtomMatrix ||
        board == m5::board_t::board_M5AtomEcho) {
        sda = 25;
        scl = 21;
    } else if (board == m5::board_t::board_M5AtomS3 || board == m5::board_t::board_M5AtomS3R ||
               board == m5::board_t::board_M5AtomS3Lite || board == m5::board_t::board_M5AtomS3RExt ||
               board == m5::board_t::board_M5AtomS3RCam) {
        sda = 38;
        scl = 39;
    }
 
    while (!AtomicMotion.begin(&Wire, M5_ATOMIC_MOTION_I2C_ADDR, sda, scl, 100000)) {
        M5.Display.clear();
        M5.Display.drawString("Init Fail", M5.Display.width() / 2, M5.Display.height() / 2);
        Serial.println("Atomic Motion begin failed");
        delay(1000);
    }
 
    M5.Display.clear();
    M5.Display.drawString("Motion", M5.Display.width() / 2, M5.Display.height() / 2);
 
    Serial.println("Atomic Motion Test");
}
 
void loop()
{
    for (int ch = 0; ch < 2; ch++) {
        AtomicMotion.setMotorSpeed(ch, 127);
        Serial.printf("Motor Channel %d: %d \n", ch, AtomicMotion.getMotorSpeed(ch));
    }
    delay(1000);
    for (int ch = 0; ch < 2; ch++) {
        AtomicMotion.setMotorSpeed(ch, -127);
        Serial.printf("Motor Channel %d: %d \n", ch, AtomicMotion.getMotorSpeed(ch));
    }
    delay(1000);
    for (int ch = 0; ch < 2; ch++) {
        AtomicMotion.setMotorSpeed(ch, 0);
        Serial.printf("Motor Channel %d: %d \n", ch, AtomicMotion.getMotorSpeed(ch));
    }
    delay(1000);
    for (int ch = 0; ch < 4; ch++) {
        AtomicMotion.setServoAngle(ch, 180);
        Serial.printf("Servo Channel %d: %d \n", ch, AtomicMotion.getServoAngle(ch));
    }
    delay(1000);
    for (int ch = 0; ch < 4; ch++) {
        AtomicMotion.setServoAngle(ch, 0);
        Serial.printf("Servo Channel %d: %d \n", ch, AtomicMotion.getServoAngle(ch));
    }
    delay(1000);
}

功耗状态读取

案例说明

如果使用的是 Atomic Motion Base v1.1版本还支持读取当前电池电压, 工作电流值参数。

cpp 
#include <M5Unified.h>
#include <M5GFX.h>
#include <M5AtomicMotion.h>
 
M5AtomicMotion AtomicMotion;
 
void setup()
{
    auto cfg = M5.config();
    M5.begin(cfg);
 
    m5::board_t board = M5.getBoard();
    uint8_t sda = 0, scl = 0;
 
    if (board == m5::board_t::board_M5AtomLite || board == m5::board_t::board_M5AtomMatrix ||
        board == m5::board_t::board_M5AtomEcho) {
        sda = 25;
        scl = 21;
    } else if (board == m5::board_t::board_M5AtomS3 || board == m5::board_t::board_M5AtomS3R ||
               board == m5::board_t::board_M5AtomS3Lite || board == m5::board_t::board_M5AtomS3RExt ||
               board == m5::board_t::board_M5AtomS3RCam) {
        sda = 38;
        scl = 39;
    }
 
    while (!AtomicMotion.begin(&Wire, M5_ATOMIC_MOTION_I2C_ADDR, sda, scl, 100000)) {
        printf("Atomic Motion begin failed\n");
        delay(1000);
    }
 
    printf("Atomic Motion INA226 Test\n");
}
 
void loop()
{
    float voltage = AtomicMotion.ina226.readBusVoltage();
    float current = AtomicMotion.ina226.readShuntCurrent();
 
    printf("voltage: %.2f V\n", voltage);
    printf("current: %.2f A\n", current);
 
    delay(1000);
}

3.编译上传

1.下载模式: 不同设备进行程序烧录前需要下载模式, 不同的主控设备该步骤可能有所不同。详情可参考Arduino IDE上手教程页面底部的设备程序下载教程列表, 查看具体的操作方式。
AtomS3R长按复位按键(大约2秒)直到内部绿色LED灯亮起，便可松开，此时设备已进入下载模式，等待烧录。

2.选中设备端口, 点击Arduino IDE左上角编译上传按钮, 等待程序完成编译并上传至设备。

4.开始运行

将Atomic Motion Base v1.1 电源开关至为 ON，即可开始驱动舵机/直流电机转动。

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1. Arduino 环境配置

2. 设备开发 & 案例程序

Basic/Fire/Gray/M5GO

Core2/Core2 For AWS

CoreS3

Tough

Atom

AtomS3

Dial

Capsule

Cardputer

Paper

PaperS3

CoreInk

StickC

StickC-Plus

StickC-Plus2

StamPLC

TimerCamera

NanoC6

3. M5Unified

M5Unified Setup

M5Unified API

4. M5GFX

5. 拓展模块 & 案例

Unit

Module

Atomic

Atom DTU

Hat