L298 is a product of SGS company. L298N is a monolithic integrated circuit with 15 tube corners, high voltage, high current, four-channel drive. L298N is designed to receive DTL or TTL logic levels to drive inductive loads (such as relays, DC and Stepping motor) and switching power supply transistor. It contains a 4-channel logic drive circuit with a rated operating current of 1 A and a maximum of 1.5 A. The minimum Vss voltage is 4.5 V and the maximum is 36 V. The maximum Vs voltage is also 36 V. L298N can directly control the motor without driving the isolation circuit and can drive dual motors. According to the characteristics of the L298N chip and the characteristics of SPCE061A itself, IOA4 ~ IOA7 are used as output ports, which are connected to IN1 ~ IN4 of L298N respectively, and their VS and VSS are connected to +12 V and +5 V power supplies, and their output ports OUT1 ~ OUT2 Connected to the steering motor, OUT3 ~ OUT4 connected to the drive motor, according to the design requirements, combined with the compiled program, according to the voice command sent, receive the signal, you can send data to [P_IOA_DATA], thereby controlling the steering motor and drive motor. The connection diagram is shown in Figure 2.
1. 4 body fine-tuning device
The body's fine-tuning device uses infrared photoelectric sensor ST178, which consists of 4 pins and is a sensor that integrates transmission and reception. The transmitting and receiving tubes are respectively composed of high-transmission power infrared photodiodes and high-sensitivity phototransistors. The working range can reach about 4 mm ~ 10 mm, using non-contact monitoring.
After repeated tests, it was confirmed that the transmitting tube of ST178 infrared photoelectric sensor should be added with a resistance of 500 Ω for current limiting, and the receiving tube should be connected with a 20 kΩ pull-up resistor. Both tubes were connected to a 5 V power supply and the voltage reached 4.8 V during operation. When there is an obstacle blocking about 1 cm from the transmitter or receiver, the voltage drops to 1 V quickly. The specific circuit is shown in Figure 3.
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