Hi tavan:
You need to change the void I2CMotorDriver::begin(unsigned char i2c_add) function frequence(F_3921Hz) to frequence(F_122Hz) in the library (Grove_I2C_Motor_Driver.cpp) file;
[code]/*
- steppermotor_test.ino
- Example sketch for Grove - I2C Motor Driver v1.3
-
- Copyright © 2012 seeed technology inc.
- Website : www.seeed.cc
- Author : Jerry Yip
- Create Time: 2017-02
- Change Log :
-
- The MIT License (MIT)
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the “Software”), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
*/
#include <Grove_I2C_Motor_Driver.h>
// default I2C address is 0x0f
#define I2C_ADDRESS 0x0f
void setup() {
Motor.begin(I2C_ADDRESS);
// Drive a stepper motor
// _step: -1024~1024, when _step>0, stepper motor runs clockwise; _step<0, stepper
// motor runs anticlockwise; when _step is 512, the stepper motor will run a complete
// turn; if step is 1024, the stepper motor will run 2 turns.
Motor.StepperRun(-1024);
Motor.StepperRun(512);
}
void loop() {
}
// End of file[/code]
Grove_I2C_Motor_Driver.cpp:
[code]/*
- Grove_I2C_Motor_Driver.cpp
- A library for Grove - I2C Motor Driver v1.3
-
- Copyright © 2012 seeed technology inc.
- Website : www.seeed.cc
- Author : Jerry Yip
- Create Time: 2017-02
- Change Log :
-
- The MIT License (MIT)
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the “Software”), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
*/
#include <Grove_I2C_Motor_Driver.h>
#include <Wire.h>
// Initialize
// Initialize I2C with an I2C address you set on Grove - I2C Motor Driver v1.3
// default i2c address: 0x0f
void I2CMotorDriver::begin(unsigned char i2c_add)
{
Serial.begin(9600);
if (i2c_add > 0x0f) {
Serial.println(“Error! I2C address must be between 0x00 to 0x0F”);
while(1);
}
Wire.begin();
delayMicroseconds(10000);
this->_i2c_add = i2c_add;
// Set default frequence to F_3921Hz
//_frequence: F_31372Hz, F_3921Hz, F_490Hz, F_122Hz, F_30Hz
frequence(F_122Hz);
}
// Private Function**
// Set the direction of 2 motors
// _direction: M1CWM2ACW(M1 ClockWise M2 AntiClockWise), M1ACWM2CW, BothClockWise, BothAntiClockWise,
void I2CMotorDriver::direction(unsigned char _direction)
{
Wire.beginTransmission(this->_i2c_add); // begin transmission
Wire.write(DirectionSet); // Direction control header
Wire.write(_direction); // send direction control information
Wire.write(Nothing); // need to send this byte as the third byte(no meaning)
Wire.endTransmission(); // stop transmitting
delay(4); // wait
}
// DC Motor Function*
// Set the speed of a motor, speed is equal to duty cycle here
// motor_id: MOTOR1, MOTOR2
// _speed: -100~100, when _speed>0, dc motor runs clockwise; when _speed<0,
// dc motor runs anticlockwise
void I2CMotorDriver::speed(unsigned char motor_id, int _speed)
{
if(motor_id<MOTOR1 || motor_id>MOTOR2) {
Serial.println(“Motor id error! Must be MOTOR1 or MOTOR2”);
return;
}
if(motor_id == MOTOR1) {
if (_speed >= 0) {
this->_M1_direction = 1;
_speed = _speed > 100 ? 100 : _speed;
this->_speed1 = map(_speed, 0, 100, 0, 255);
}
else if (_speed < 0) {
this->_M1_direction = -1;
_speed = _speed < -100 ? 100 : -(_speed);
this->_speed1 = map(_speed, 0, 100, 0, 255);
}
}
else if(motor_id == MOTOR2) {
if (_speed >= 0) {
this->_M2_direction = 1;
_speed = _speed > 100 ? 100 : _speed;
this->_speed2 = map(_speed, 0, 100, 0, 255);
}
else if (_speed < 0) {
this->_M2_direction = -1;
_speed = _speed < -100 ? 100 : -(_speed);
this->_speed2 = map(_speed, 0, 100, 0, 255);
}
}
// Set the direction
if (_M1_direction == 1 && _M2_direction == 1) direction(BothClockWise);
if (_M1_direction == 1 && _M2_direction == -1) direction(M1CWM2ACW);
if (_M1_direction == -1 && _M2_direction == 1) direction(M1ACWM2CW);
if (_M1_direction == -1 && _M2_direction == -1) direction(BothAntiClockWise);
// send command
Wire.beginTransmission(this->_i2c_add); // begin transmission
Wire.write(MotorSpeedSet); // set pwm header
Wire.write(this->_speed1); // send speed of motor1
Wire.write(this->_speed2); // send speed of motor2
Wire.endTransmission(); // stop transmitting
delay(4); // Wait
}
// Set the frequence of PWM(cycle length = 510, system clock = 16MHz)
// F_3921Hz is default
// _frequence: F_31372Hz, F_3921Hz, F_490Hz, F_122Hz, F_30Hz
void I2CMotorDriver::frequence(unsigned char _frequence)
{
if (_frequence < F_31372Hz || _frequence > F_30Hz) {
Serial.println(“frequence error! Must be F_31372Hz, F_3921Hz, F_490Hz, F_122Hz, F_30Hz”);
return;
}
Wire.beginTransmission(this->_i2c_add); // begin transmission
Wire.write(PWMFrequenceSet); // set frequence header
Wire.write(_frequence); // send frequence
Wire.write(Nothing); // need to send this byte as the third byte(no meaning)
Wire.endTransmission(); // stop transmitting
delay(4); // wait
}
// Stop one motor
// motor_id: MOTOR1, MOTOR2
void I2CMotorDriver::stop(unsigned char motor_id)
{
if (motor_id<MOTOR1 || motor_id>MOTOR2) {
Serial.println(“Motor id error! Must be MOTOR1 or MOTOR2”);
return;
}
speed(motor_id, 0);
}
// Stepper Motor Function
// Drive a stepper motor
// _step: -1024~1024, when _step>0, stepper motor runs clockwise; when _step<0,
// stepper motor runs anticlockwise; when _step is 512, the stepper motor will
// run a complete turn; if step is 1024, the stepper motor will run 2 turns.
void I2CMotorDriver::StepperRun(int _step)
{
int _direction = 1;
if (_step > 0) {
_direction = 1; //clockwise
_step = _step > 1024 ? 1024 : _step;
}
else if (_step < 0) {
_direction = -1; //anti-clockwise
_step = _step < -1024 ? 1024 : -(_step);
}
this->_speed1 = 255;
this->_speed2 = 255;
Wire.beginTransmission(this->_i2c_add); // begin transmission
Wire.write(MotorSpeedSet); // set pwm header
Wire.write(this->_speed1); // send speed of motor1
Wire.write(this->_speed2); // send speed of motor2
Wire.endTransmission(); // stop transmitting
delay(4); // wait
if (_direction == 1) {
for (int i=0; i<_step; i++) {
direction(0b0001);
direction(0b0011);
direction(0b0010);
direction(0b0110);
direction(0b0100);
direction(0b1100);
direction(0b1000);
direction(0b1001);
}
}
else if (_direction == -1) {
for (int i=0; i<_step; i++) {
direction(0b1000);
direction(0b1100);
direction(0b0100);
direction(0b0110);
direction(0b0010);
direction(0b0011);
direction(0b0001);
direction(0b1001);
}
}
}
I2CMotorDriver Motor;
// End of File[/code]
