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arduino

https://blog.with2.net/link/?1965529

Arduinoで動くものを作ろう

https://blog.with2.net/link/?1965529

製作する車両のコンセプトを決めます。

  1. クローラ駆動
  2. 駆動モータはDCモータ
  3. 距離センサを内蔵して障害物を検知する
  4. 障害物を自動で回避し自律走行する

機体製作の前になにはともあれArduinoでDCモータを駆動することを考えなければなりません。

ネットを検索してモータ制御の勉強から始めることにします。

モーターの制御にはモータードライバ「TA7291P」というICが便利なようです。
モーターのほうはタミヤ模型の「楽しい工作シリーズ No.168 ダブルギヤボックス 左右独立4速タイプ 」を利用しました。

プログラム(Arduinoの世界ではsketchと呼ぶそうです)と配線は以下のサイトを参考にさせていただきました。
http://kousaku-kousaku.blogspot.jp/2008/06/arduino-dcta7291p.html

第一段階は片側のモーターのみを使って回転数を制御することから始めました。

上記のサイトを参考に配線し、sketchのほうも上記サイトのものを拝借しています。

動画のようにポテンショメーターで回転数、前進、後進、停止が制御できることがわかりました。

ただ動かすだけでは意味がないので、sketchの理解、ICの理解に時間がとられ二日がかりの作業になりました。

途中、動作がうまくいかず何度チェックしても原因不明となりましたが、現役時代にもこんなことはいくらもあり、そんな時は一旦離れて翌日に再開すると解決するものです。どうも寝ている間も脳のほうは解決方法を考えているんではないかと思ったりしています。今回も翌朝同じ手順でチェックを再開したところアッサリと不具合個所を発見できました。

ここまでで、TA7291Pが2個で300円、ギヤーボックス1180円、合計1500円ほどの投資です。

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