https:\/\/github.com\/nekoma-seisakusho\/pxt-motor<\/a><\/p>\n\n\n\u30dd\u30a4\u30f3\u30c8\u306f\u3001\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u3082DC\u30e2\u30fc\u30bf\u3082PCA9685\u3092\u4f7f\u3063\u3066\u5236\u5fa1\u3059\u308b\u3068\u3044\u3046\u3053\u3068\u3067\u3042\u308b\u3002\u5f53\u521d\u3001DC\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0\u3082I2C\u3067\u5225\u306b\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u304b\u3068\u601d\u3063\u3066\u8abf\u3079\u3066\u3044\u305f\u306e\u3060\u304c\u3001PWM\u5165\u529b\u306eDC\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0\u306b\u3001PCA9685\u306ePWM\u51fa\u529b\u3092\u3064\u306a\u3052\u305f\u3082\u306e\u306e\u3088\u3046\u3060\u3002\u3061\u306a\u307f\u306bDC\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0\u3068\u3057\u3066\u3001HR8835 \u304c2\u500b\u4f7f\u308f\u308c\u3066\u3044\u308b\u3002<\/p>\n\n\n
\u3068\u3044\u3046\u3053\u3068\u3067\u3001MicroPython \u306e\u30b3\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n\n\n
import microbit\nimport utime\ninitialized = False\ndef i2cWrite(addr, reg, value):\n buf = [0, 0]\n buf[0] = reg\n buf[1] = value\n microbit.i2c.write(addr, bytes(buf))\ndef i2cRead(addr, reg):\n microbit.i2c.write(addr, bytes([reg]))\n ret = microbit.i2c.read(addr, 1)\n return ret[0]\ndef initPCA9685():\n global initialized\n i2cWrite(64, 0, 0)\n oldmode = i2cRead(64, 0)\n newmode = (oldmode & 127) | 16\n i2cWrite(64, 0, newmode)\n i2cWrite(64, 254, 121)\n i2cWrite(64, 0, oldmode)\n utime.sleep_us(5000)\n i2cWrite(64, 0, oldmode | 161)\n initialized = True\ndef setPwm(channel, off):\n if channel < 0 or channel > 15:\n return\n print(\"setPWM\",channel,off)\n buf = [0] * 5\n buf[0] = 6 + 4 * channel\n buf[1] = 0\n buf[2] = 0\n buf[3] = off & 255\n buf[4] = (off >> 8) & 255\n microbit.i2c.write(64, bytes(buf))\ndef Servo(index, degree):\n if not initialized:\n initPCA9685()\n value = (degree * 10 + 600) * 4095 \/\/ 20000\n setPwm(16 - index, value)\ndef MotorRun(index, speed):\n if index < 1 or index > 4:\n return\n if not initialized:\n initPCA9685()\n speed = speed * 16\n if speed >= 4096:\n speed = 4095\n if speed <= -4096:\n speed = -4095\n dp = speed\n dn = 0\n if speed < 0:\n dp = 0\n dn = -speed\n ch = (4 - index) * 2\n setPwm(ch + 1, dp)\n setPwm(ch, dn)<\/code><\/pre>\n\n\n\u4f7f\u3044\u65b9\u306f\u3001Servo(\u30c1\u30e3\u30cd\u30eb\u756a\u53f7, \u89d2\u5ea6) \u3067\u3001\u30c1\u30e3\u30cd\u30eb\u756a\u53f7\u306b1\u304b\u30898\u3092\u3001\u89d2\u5ea6\u306f\u6570\u5024\u3092\u4e0e\u3048\u308c\u3070\u5bfe\u5fdc\u3059\u308b\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u304c\u52d5\u304f\u3002\u307e\u305f\u3001MotorRun(\u30c1\u30e3\u30cd\u30eb\u756a\u53f7, \u901f\u5ea6) \u3067\u3001\u30c1\u30e3\u30cd\u30eb\u756a\u53f7\u306b1\u304b\u30894\u3092\u3001\u901f\u5ea6\u306b -255 \u304b\u3089 255 \u306e\u6570\u5024\u3092\u4e0e\u3048\u308c\u3070DC\u30e2\u30fc\u30bf\u304c\u52d5\u304f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
DF-ROBOT\u306emicro:bit Driver Expansion Board(v2.0)\u306f\u3001\u5b89\u4fa1\u306a\u5272\u306b\u6a5f\u80fd\u306e\u591a\u3044\u30e2\u30fc\u30bf\u30fc\u5236\u5fa1\u30dc\u30fc\u30c9\u3067\u3042\u308b\u3002 https:\/\/www.dfrobot.com\/product-1738….<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[37,9],"tags":[],"class_list":["post-3302","post","type-post","status-publish","format-standard","hentry","category-microbit","category-python"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/3302","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/comments?post=3302"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/3302\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=3302"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=3302"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=3302"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}