[C#/UWP/RASPBERRYPI] 서보 모터 사용하기
■ 서보 모터를 사용하는 방법을 보여준다. ▶ 부품 내역
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──────────────────────────── 구분 모델 수량 비고 ───── ──────────────── ── ── CONTROLLER PWM/Servo Driver PCA9685 12-bit 1 MOTOR Tower Pro Micro Servo 9g - SG90 1 ──────────────────────────── |
[회로 구성도] ▶ MainPage.xaml
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<Page x:Class="TestApplication.MainPage" xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:local="using:TestApplication" xmlns:d="http://schemas.microsoft.com/expression/blend/2008" xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" mc:Ignorable="d"> <Grid Background="{ThemeResource ApplicationPageBackgroundThemeBrush}"> <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center" Orientation="Horizontal"> <TextBlock HorizontalAlignment="Center" VerticalAlignment="Center" Margin="10" Text="Survo Motor Angle" /> <Slider x:Name="slider" HorizontalAlignment="Center" VerticalAlignment="Center" Margin="10" Width="200" Minimum="-90" Maximum="60" /> <TextBlock HorizontalAlignment="Center" VerticalAlignment="Center" Margin="10" Text="{Binding ElementName=slider, Path=Value, Mode=OneWay}" /> </StackPanel> </Grid> </Page> |
▶ MainPage.xaml.cs
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using System; using Windows.Devices.Pwm; using Windows.UI.Xaml.Controls; using Windows.UI.Xaml.Controls.Primitives; using PwmPCA9685; namespace TestApplication { /// <summary> /// 메인 페이지 /// </summary> public sealed partial class MainPage : Page { //////////////////////////////////////////////////////////////////////////////////////////////////// Field ////////////////////////////////////////////////////////////////////////////////////////// Private #region Field /// <summary> /// PWM 컨트롤러 /// </summary> private PwmController pwmController; /// <summary> /// PWM 핀 /// </summary> private PwmPin pwmPin; /// <summary> /// 주파수 /// </summary> private const double FREQUENCY = 1000d / 15d; /// <summary> /// 중심 펄스 너비 /// </summary> private const double CENTERING_PULSE_WIDTH = 0.0015d; // 1.5 * 0.001 /// <summary> /// 주파수 * 중심 펄스 너비 /// </summary> private const double FREQUENCY_MULTIPLY_BY_CENTERING_PULSE_WIDTH = FREQUENCY * CENTERING_PULSE_WIDTH; /// <summary> /// 각도 너비 /// </summary> private const double ANGLE_WIDTH = 90d; /// <summary> /// 배율 /// </summary> private const double MAGNIFICATION = 0.5d; /// <summary> /// 배율 / 각도 너비 /// </summary> private const double MAGNIFICATION_DIVIDE_BY_ANGLE_WIDTH = MAGNIFICATION / ANGLE_WIDTH; /// <summary> /// 핀 번호 /// </summary> private const int PIN_NUMBER = 3; #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Constructor ////////////////////////////////////////////////////////////////////////////////////////// Public #region 생성자 - MainPage() /// <summary> /// 생성자 /// </summary> public MainPage() { InitializeComponent(); InitializePCA9685(); this.slider.ValueChanged += slider_ValueChanged; } #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Method ////////////////////////////////////////////////////////////////////////////////////////// Private //////////////////////////////////////////////////////////////////////////////// Event #region 슬라이더 값 변경시 처리하기 - slider_ValueChanged(sender, e) /// <summary> /// 슬라이더 값 변경시 처리하기 /// </summary> /// <param name="sender">이벤트 발생자</param> /// <param name="e">이벤트 인자</param> private void slider_ValueChanged(object sender, RangeBaseValueChangedEventArgs e) { double angle = this.slider.Value; double dutyCyclePercentage = GetDutyCyclePercentage(angle); this.pwmPin.SetActiveDutyCyclePercentage(dutyCyclePercentage); } #endregion //////////////////////////////////////////////////////////////////////////////// Function #region PCA9685 초기화하기 - InitializePCA9685() /// <summary> /// PCA9685 초기화하기 /// </summary> private async void InitializePCA9685() { this.pwmController = (await PwmController.GetControllersAsync(PwmProviderPCA9685.GetPwmProvider()))[0]; this.pwmController.SetDesiredFrequency(FREQUENCY); this.pwmPin = this.pwmController.OpenPin(PIN_NUMBER); this.pwmPin.SetActiveDutyCyclePercentage(0); this.pwmPin.Start(); } #endregion #region 가동 주기 백분율 구하기 - GetDutyCyclePercentage(angle) /// <summary> /// 가동 주기 백분율 구하기 /// </summary> /// <param name="angle">각도</param> /// <returns>가동 주기 백분율</returns> private double GetDutyCyclePercentage(double angle) { double dutyCyclePercentage = FREQUENCY_MULTIPLY_BY_CENTERING_PULSE_WIDTH * (1 + MAGNIFICATION_DIVIDE_BY_ANGLE_WIDTH * angle); return dutyCyclePercentage; } #endregion } } |
TestApplication.zip
