折騰了好幾天，實在搞不定了，決定上來社區(qū)求助。

現(xiàn)在的硬件情況是這樣的：

- HM-GM37-3429霍爾傳感器大載重電機，每個電機六條線，其中電機輸入兩個，霍爾編碼器電源兩個，編碼器AB相兩個

- 四個電機，不算電源線的話，每個電機要使用3個Arduino的端口(控制高低電平和PWM)+兩個編碼器AB相數(shù)據(jù)輸入，共需要20個端口

- Arduino Uno

- L298N四路驅(qū)動器

- 12V電池

我遇到的問題是：

1. 不知道怎樣接線才能把電機和霍爾編碼器都用上

2. 考慮過擴展板，但即便用了Nano+擴展板能插上線，Arduino也只有1~13，A1~A7這么多的端口，如何能同時控制電機又可以獲取到四個霍爾編碼器的值？

還有就是目前電機總是時轉(zhuǎn)時不轉(zhuǎn)的，折騰了5，6個小時了不清楚原因，還望各位大神可以多支招，已排查以下情況：

- 全部杜邦線已用萬用表測量過是通的

- L298N是正常的，用了兩塊同樣的板子試過還是這樣

- 電機用電池直連測試過是可以轉(zhuǎn)的

唯一沒有測過的就是Arduino Uno是不是正常的了，但這個不知道有沒有簡便的方法可以測試？

謝謝大家！

以下是我的測試代碼：

[mw_shl_code=arduino,true]/*

* Sample Code for testing car running

*/

//Define the Pins

//Motor 1

int pinAIN1 = 4; //右前馬達

int pinAIN2 = 2; //右前馬達

int pinPWMA = 3; //右前馬達PWM

int pinAIN3 = 7; //左前馬達

int pinAIN4 = 6; //左前馬達

int pinPWMB = 5; //左前馬達PWM

int pinAIN5 = 10; //右后馬達

int pinAIN6 = 8; //右后馬達

int pinPWMC = 9; //右后馬達PWM

int pinAIN7 = 12; //左后馬達

int pinAIN8 = 13; //左后馬達

int pinPWMD = 11; //左后馬達PWM

//Standby

int pinSTBY = 12;

void setup()

{

Serial.begin(9600);

//Set the PIN Modes

pinMode(pinAIN1, OUTPUT);

pinMode(pinAIN2, OUTPUT);

pinMode(pinPWMA, OUTPUT);

pinMode(pinAIN3, OUTPUT);

pinMode(pinAIN4, OUTPUT);

pinMode(pinPWMB, OUTPUT);

pinMode(pinAIN5, OUTPUT);

pinMode(pinAIN6, OUTPUT);

pinMode(pinPWMC, OUTPUT);

pinMode(pinAIN7, OUTPUT);

pinMode(pinAIN8, OUTPUT);

pinMode(pinPWMD, OUTPUT);

pinMode(pinSTBY, OUTPUT);

}

void loop()

{

//12A

Serial.println("前");

int speed = 255;

digitalWrite(pinAIN1, 1);

digitalWrite(pinAIN2, 0);

analogWrite(pinPWMA, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMA, 0);

delay(1000);

Serial.println("后");

digitalWrite(pinAIN1, 0);

digitalWrite(pinAIN2, 1);

analogWrite(pinPWMA, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMA, 0);

delay(1000);

//34B

Serial.println("后");

digitalWrite(pinAIN3, 1);

digitalWrite(pinAIN4, 0);

analogWrite(pinPWMB, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMB, 0);

delay(1000);

Serial.println("前");

digitalWrite(pinAIN3, 0);

digitalWrite(pinAIN4, 1);

analogWrite(pinPWMB, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMB, 0);

delay(1000);

//56C

Serial.println("前");

digitalWrite(pinAIN5, 1);

digitalWrite(pinAIN6, 0);

analogWrite(pinPWMC, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMC, 0);

delay(1000);

Serial.println("后");

digitalWrite(pinAIN5, 0);

digitalWrite(pinAIN6, 1);

analogWrite(pinPWMC, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMC, 0);

delay(1000);

//78D

Serial.println("后");

digitalWrite(pinAIN7, 1);

digitalWrite(pinAIN8, 0);

analogWrite(pinPWMD, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMD, 0);

delay(1000);

Serial.println("前");

digitalWrite(pinAIN7, 0);

digitalWrite(pinAIN8, 1);

analogWrite(pinPWMD, speed);

delay(2000);

Serial.println("結(jié)束");

analogWrite(pinPWMD, 0);

delay(1000);

/*

*/

}[/mw_shl_code]

總結(jié)

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