{"id":3707,"date":"2022-03-13T10:03:33","date_gmt":"2022-03-13T02:03:33","guid":{"rendered":"https:\/\/blog.iyatt.com\/?p=3707"},"modified":"2024-05-05T14:19:16","modified_gmt":"2024-05-05T06:19:16","slug":"%e6%a0%91%e8%8e%93%e6%b4%be%e4%bd%bf%e7%94%a8%e8%88%b5%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/blog.iyatt.com\/?p=3707","title":{"rendered":"\u6811\u8393\u6d3e\u4f7f\u7528\u8235\u673a"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_83 ez-toc-wrap-center counter-hierarchy ez-toc-counter ez-toc-light-blue ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title ez-toc-toggle\" style=\"cursor:pointer\">\u76ee\u5f55<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/blog.iyatt.com\/?p=3707\/#%E7%AE%80%E4%BB%8B\" >\u7b80\u4ecb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/blog.iyatt.com\/?p=3707\/#%E6%B5%8B%E8%AF%95%E7%8E%AF%E5%A2%83\" >\u6d4b\u8bd5\u73af\u5883<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/blog.iyatt.com\/?p=3707\/#GPIO_%E5%B8%83%E5%B1%80%E5%9B%BE\" >GPIO \u5e03\u5c40\u56fe<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/blog.iyatt.com\/?p=3707\/#%E8%88%B5%E6%9C%BA%E4%BD%BF%E7%94%A8%E6%BC%94%E7%A4%BA\" >\u8235\u673a\u4f7f\u7528\u6f14\u793a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/blog.iyatt.com\/?p=3707\/#%E6%89%8B%E6%9F%84%E6%8E%A7%E5%88%B6\" >\u624b\u67c4\u63a7\u5236<\/a><\/li><\/ul><\/nav><\/div>\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%AE%80%E4%BB%8B\"><\/span>\u7b80\u4ecb<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n<p class=\"wp-block-paragraph\">\u8235\u673a\u662f\u4e00\u79cd\u4f4d\u7f6e\uff08\u89d2\u5ea6\uff09\u4f3a\u670d\u7684\u9a71\u52a8\u5668\uff0c\u9002\u7528\u4e8e\u90a3\u4e9b\u9700\u8981\u89d2\u5ea6\u4e0d\u65ad\u53d8\u5316\u5e76\u53ef\u4ee5\u4fdd\u6301\u7684\u63a7\u5236\u7cfb\u7edf\uff0c\u901a\u8fc7 PWM \u53ef\u4ee5\u63a7\u5236\u8235\u673a\u8f6c\u52a8\u5230\u6307\u5b9a\u7684\u89d2\u5ea6\u3002<\/p>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"800\" height=\"687\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-160.png\" alt=\"\" class=\"wp-image-3727 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-160.png 800w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-160-300x258.png 300w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-160-768x660.png 768w\" data-sizes=\"(max-width: 800px) 100vw, 800px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 800px; --smush-placeholder-aspect-ratio: 800\/687;\" \/><\/figure>\n\n\n<p class=\"wp-block-paragraph\">\u6f14\u793a\u7528\u7684\u8235\u673a\u90fd\u662f 180\u00b0 \u7684<\/p>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%B5%8B%E8%AF%95%E7%8E%AF%E5%A2%83\"><\/span>\u6d4b\u8bd5\u73af\u5883<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n<ul class=\"wp-block-list\"><li>\u786c\u4ef6\uff08\u7cfb\u7edf\uff09\uff1a\u6811\u8393\u6d3e cm4 \uff08\u5b98\u65b964\u4f4d\u7cfb\u7edf Debian 11\uff09<\/li><\/ul>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"967\" height=\"473\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-152.png\" alt=\"\" class=\"wp-image-3709 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-152.png 967w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-152-300x147.png 300w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-152-768x376.png 768w\" data-sizes=\"(max-width: 967px) 100vw, 967px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 967px; --smush-placeholder-aspect-ratio: 967\/473;\" \/><\/figure>\n\n\n<ul class=\"wp-block-list\"><li>\u7f16\u8bd1\u5668 GNU gcc 10.2.1<\/li><li><a href=\"https:\/\/github.com\/WiringPi\/WiringPi\" target=\"_blank\" rel=\"noreferrer noopener\">WiringPi \u5e93<\/a><\/li><li>\u8235\u673a MG996R x 1 \uff08\u6f14\u793a PWM \u8235\u673a\u63a7\u5236\u4f7f\u7528\uff09<\/li><\/ul>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"359\" height=\"455\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-153.png\" alt=\"\" class=\"wp-image-3710 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-153.png 359w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-153-237x300.png 237w\" data-sizes=\"(max-width: 359px) 100vw, 359px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 359px; --smush-placeholder-aspect-ratio: 359\/455;\" \/><\/figure>\n\n\n<ul class=\"wp-block-list\"><li>\u8235\u673a TS90A x 2 \uff08\u6f14\u793a\u624b\u67c4\u63a7\u5236\u4e91\u53f0\uff09<\/li><\/ul>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"492\" height=\"802\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-154.png\" alt=\"\" class=\"wp-image-3711 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-154.png 492w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-154-184x300.png 184w\" data-sizes=\"(max-width: 492px) 100vw, 492px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 492px; --smush-placeholder-aspect-ratio: 492\/802;\" \/><\/figure>\n\n\n<ul class=\"wp-block-list\"><li>PCF 8591 \u6570\u6a21\u8f6c\u6362\u6a21\u5757<\/li><\/ul>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"535\" height=\"359\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-155.png\" alt=\"\" class=\"wp-image-3712 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-155.png 535w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-155-300x201.png 300w\" data-sizes=\"(max-width: 535px) 100vw, 535px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 535px; --smush-placeholder-aspect-ratio: 535\/359;\" \/><\/figure>\n\n\n<ul class=\"wp-block-list\"><li>\u624b\u67c4<\/li><\/ul>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"593\" height=\"540\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-156.png\" alt=\"\" class=\"wp-image-3713 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-156.png 593w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-156-300x273.png 300w\" data-sizes=\"(max-width: 593px) 100vw, 593px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 593px; --smush-placeholder-aspect-ratio: 593\/540;\" \/><\/figure>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"GPIO_%E5%B8%83%E5%B1%80%E5%9B%BE\"><\/span>GPIO \u5e03\u5c40\u56fe<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"743\" height=\"484\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-157.png\" alt=\"\" class=\"wp-image-3715 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-157.png 743w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-157-300x195.png 300w\" data-sizes=\"(max-width: 743px) 100vw, 743px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 743px; --smush-placeholder-aspect-ratio: 743\/484;\" \/><\/figure>\n\n\n<p class=\"wp-block-paragraph\">\u4f7f\u7528 BCM \u7f16\u53f7<\/p>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E8%88%B5%E6%9C%BA%E4%BD%BF%E7%94%A8%E6%BC%94%E7%A4%BA\"><\/span>\u8235\u673a\u4f7f\u7528\u6f14\u793a<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n<p class=\"wp-block-paragraph\">\uff081\uff09\u63a5\u7ebf<\/p>\n\n\n<p class=\"wp-block-paragraph\">\u8235\u673a\u6709\u4e09\u6761\u7ebf\uff0c\u7ea2\u7ebf\u4e3a\u6b63\u6781\uff0c\u53ef 3.3V\uff0c\u4e5f\u53ef 5V\uff0c\u5efa\u8bae 5V \u52a8\u529b\u66f4\u5f3a\uff1b\u68d5\u7ebf\u63a5 GND\uff1b\u9ec4\u7ebf\u63a5 PWM \u63a7\u5236\uff0c\u8fd9\u91cc\u6f14\u793a\u6211\u5c31\u63a5 BCM 17\u3002<\/p>\n\n\n<p class=\"wp-block-paragraph\">\uff082\uff09\u6e90\u7801\u793a\u4f8b<\/p>\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"c\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include \"wiringPi.h\"\n#include \"softPwm.h\"\n\n#define PIN 17  \/\/ BCM 17\n\nint main()\n{\n    wiringPiSetupGpio();  \/\/ \u521d\u59cb\u5316 GPIO\uff0c\u6309 BCM \u7f16\u53f7\u4f7f\u7528\n    pinMode(PIN, OUTPUT);  \/\/ \u8bbe\u7f6e\u5f15\u811a\u4e3a\u8f93\u51fa\n    softPwmCreate(PIN, 15, 200);  \/\/ 20ms \u5468\u671f\uff0c\u521d\u59cb\u9ad8\u7535\u5e73\u5360\u6bd4 1.5ms\uff0c\u5c45\u4e2d\n    delay(1000);  \/\/ \u5ef6\u65f6 1 s\uff0c\u7ed9\u4e88\u65f6\u95f4\u8db3\u591f\u65f6\u95f4\u7ed9\u8235\u673a\u8f6c\u52a8\n    softPwmWrite(PIN, 5);  \/\/ \u8f6c\u52a8\u5230 -90\u00b0\n    delay(2000);\n    softPwmWrite(PIN, 25);  \/\/ \u8f6c\u52a8\u5230 90\u00b0\n    delay(1000);\n    softPwmStop(PIN);  \/\/ \u5173\u95ed PWM\n}<\/pre>\n\n\n<p class=\"wp-block-paragraph\">\u9996\u5148\u8235\u673a\u4f1a\u8f6c\u52a8\u5230\u4e2d\u95f4 0\u00b0 \u4f4d\u7f6e\uff0c\u7136\u540e\u5411\u53f3\u8f6c\u5230 -90\u00b0 \u4f4d\u7f6e\uff0c\u7136\u540e\u5411\u5de6\u8f6c\u5230 90\u00b0\u4f4d\u7f6e<\/p>\n\n\n<p class=\"wp-block-paragraph\">\u7f16\u8bd1\u65f6 gcc \u8981\u52a0\u53c2\u6570 -lwiringPi \u8fdb\u884c\u94fe\u63a5<\/p>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%89%8B%E6%9F%84%E6%8E%A7%E5%88%B6\"><\/span>\u624b\u67c4\u63a7\u5236<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n<p class=\"wp-block-paragraph\">\uff081\uff09\u63a5\u7ebf<\/p>\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u9762\u5de6\u53f3\u8f6c\u52a8\u7684\u8235\u673a PWM \u63a5 BCM 17\uff0c\u4e0a\u9762\u4e0a\u4e0b\u6446\u52a8\u7684\u8235\u673a\u63a5 BCM 18\u3002<\/p>\n\n\n<p class=\"wp-block-paragraph\">PCF 8591 \u5bf9\u6811\u8393\u6d3e\u63a5\u53e3\u5c31\u662f IIC\uff0cGND\u3001VCC\u3001SCL\u3001SDA \u5206\u522b\u5bf9\u5e94\u5c31\u884c\uff0cPCF 8591 \u63d2\u4e86\u8df3\u7ebf\u5e3d\u7684\u8bdd\uff0c\u5168\u90e8\u62d4\u6389\uff0c\u53e6\u5916\u6811\u8393\u6d3e\u8bbe\u7f6e\u8bb0\u5f97\u6253\u5f00 I2C<\/p>\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" width=\"1024\" height=\"664\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-158-1024x664.png\" alt=\"\" class=\"wp-image-3716 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-158-1024x664.png 1024w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-158-300x195.png 300w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-158-768x498.png 768w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-158.png 1124w\" data-sizes=\"(max-width: 1024px) 100vw, 1024px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 1024px; --smush-placeholder-aspect-ratio: 1024\/664;\" \/><\/figure>\n\n\n<p class=\"wp-block-paragraph\">\u624b\u67c4 GND\u3001VCC \u5bf9\u7740\u63a5\u5230\u6811\u8393\u6d3e\u5c31\u884c\uff0c\u7136\u540e PCF 8591 \u7684 AIN0\u3001AIN1 \u5206\u522b\u63a5\u624b\u67c4 X\u3001Y\uff0c\u624b\u67c4\u8fd8\u6709\u4e00\u6839 SW \u7ebf\uff0c\u90a3\u662f\u624b\u67c4\u53ef\u4ee5\u4e0b\u6309\uff0c\u6709\u4e00\u4e2a\u6309\u94ae\uff0c\u8fd9\u91cc\u4e0d\u4f7f\u7528\u5c31\u4e0d\u63a5\u7ebf\u3002<\/p>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"900\" height=\"405\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-159.png\" alt=\"\" class=\"wp-image-3718 lazyload\" data-srcset=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-159.png 900w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-159-300x135.png 300w, https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/image-159-768x346.png 768w\" data-sizes=\"(max-width: 900px) 100vw, 900px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 900px; --smush-placeholder-aspect-ratio: 900\/405;\" \/><\/figure>\n\n\n<p class=\"wp-block-paragraph\">\uff082\uff09\u6e90\u7801\u793a\u4f8b<\/p>\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"c\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include \"wiringPi.h\"\n#include \"softPwm.h\"\n#include \"pcf8591.h\"\n\n#include &lt;math.h&gt;\n\n#define PIN1 17  \/\/ BCM 17\n#define PIN2 18  \/\/ BCM 18\n#define PCF  64  \/\/ PCF8591 \u8d77\u59cb\u5730\u5740\n#define AIN0 PCF\n#define AIN1 PCF+1\n\n\/**\n * @brief \u63a7\u5236\u8235\u673a\n *          pcf8591 \u8bfb\u503c\u8303\u56f4\u4e3a 0~255\uff0c125 \u65f6\u624b\u67c4\u5c45\u4e2d\uff08\u5b9e\u9645\u5c45\u4e2d\u65f6\u4e0d\u4e00\u5b9a\u662f 125\uff0c\u53ef\u80fd\u6709\u504f\u5dee\uff09\n *          \u7136\u540e\u8981\u5c06\u624b\u67c4\u7684\u8bfb\u503c\u8f6c\u6362\u4e3a\u8235\u673a\u8f6c\u52a8\u89d2\u5ea6\uff0c\u5bf9\u5e94\u8fd9\u91cc 5~25\uff080\u00b0~180\u00b0\uff09\n *          \uff0825 - 5\uff09\/ 256 = 0.78125\n *          \u6240\u4ee5\u624b\u67c4\u503c dir \u4e0e\u8235\u673a\u8f6c\u52a8\u89d2\u5ea6\u63a7\u5236\u503c ang \u7684\u5173\u7cfb\u4e3a ang = 5 + 0.78125 * dir\n * \n * @param pin \u8235\u673a PWM \u5f15\u811a\n * @param op 0~255, \u5bf9\u5e94\n *\/\nvoid steer(int pin, int dir)\n{\n    int ang = 5 + (int)round(0.078125 * dir);  \/\/ \u56db\u820d\u4e94\u5165\u53d6\u6574\n    softPwmWrite(pin, ang);\n}\n\nint main()\n{\n    \/\/ \u521d\u59cb\u5316\n    wiringPiSetupGpio();\n    pcf8591Setup(PCF, 0x48);  \/\/ AIN0\u3001AIN1 \u5206\u522b\u5bf9\u5e94 PCF+0\u3001PCF+1\uff0c0x48\u4e3a\u6a21\u5757\u81ea\u5df1\u7684 I2C \u5730\u5740\n    pinMode(PIN1, OUTPUT);\n    pinMode(PIN2, OUTPUT);\n    softPwmCreate(PIN1, 15, 200);  \/\/ \u5c45\u4e2d 0\u00b0\n    softPwmCreate(PIN2, 15, 200);\n    delay(1000);\n    while (1)\n    {\n        int x = analogRead(AIN0);  \/\/ \u8bfb\u624b\u67c4\u503c\n        int y = analogRead(AIN1);\n\n        steer(PIN1, x);\n        steer(PIN2, y);\n        delay(10);\n    }\n}<\/pre>\n\n\n<p class=\"wp-block-paragraph\">\u7f16\u8bd1\u65f6\u8981\u94fe\u63a5 wiringPi \u5e93\u548c\u6570\u5b66\u5e93\uff0c\u52a0\u53c2\u6570 <strong>-lwiringPi -lm<\/strong><\/p>\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"180\" height=\"400\" data-src=\"https:\/\/blog.iyatt.com\/wp-content\/uploads\/2022\/03\/65245F1EBAF53B7D576A1DFEAE9327F8.gif\" alt=\"\" class=\"wp-image-3720 lazyload\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 180px; --smush-placeholder-aspect-ratio: 180\/400;\"><\/figure>\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7b80\u4ecb \u8235\u673a\u662f\u4e00\u79cd\u4f4d\u7f6e\uff08\u89d2\u5ea6\uff09\u4f3a\u670d\u7684\u9a71\u52a8\u5668\uff0c\u9002\u7528\u4e8e\u90a3\u4e9b\u9700\u8981\u89d2\u5ea6\u4e0d\u65ad\u53d8\u5316\u5e76\u53ef\u4ee5\u4fdd\u6301\u7684\u63a7\u5236\u7cfb\u7edf\uff0c\u901a\u8fc7 PWM \u53ef\u4ee5\u63a7 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"zakra_page_container_layout":"customizer","zakra_page_sidebar_layout":"customizer","zakra_remove_content_margin":false,"zakra_sidebar":"customizer","zakra_transparent_header":"customizer","zakra_logo":0,"zakra_main_header_style":"default","zakra_menu_item_color":"","zakra_menu_item_hover_color":"","zakra_menu_item_active_color":"","zakra_menu_active_style":"","zakra_page_header":true,"_lmt_disableupdate":"","_lmt_disable":"","footnotes":""},"categories":[1,600],"tags":[],"class_list":["post-3707","post","type-post","status-publish","format-standard","hentry","category-all","category-600"],"modified_by":"IYATT-yx","_links":{"self":[{"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=\/wp\/v2\/posts\/3707","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3707"}],"version-history":[{"count":0,"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=\/wp\/v2\/posts\/3707\/revisions"}],"wp:attachment":[{"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3707"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3707"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.iyatt.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3707"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}