写一个关于ardunio的四路TB6612控制的闭环电机控制代码

以下是一个基于Arduino的四路TB6612闭环电机控制代码的示例：

#include <SPI.h>
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>

// Motor shield object
Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor objects
Adafruit_DCMotor *motor1 = AFMS.getMotor(1);
Adafruit_DCMotor *motor2 = AFMS.getMotor(2);
Adafruit_DCMotor *motor3 = AFMS.getMotor(3);
Adafruit_DCMotor *motor4 = AFMS.getMotor(4);

// IMU object
Adafruit_BNO055 bno = Adafruit_BNO055();

void setup()
{
    // Initialize serial communication
    Serial.begin(9600);

    // Initialize motor shield
    AFMS.begin();

    // Set PWM frequency to 1kHz
    AFMS.setPWMFreq(1000);

    // Initialize IMU
    if (!bno.begin())
    {
        Serial.println("Failed to initialize BNO055!");
        while (1);
    }

    // Set IMU to NDOF mode
    bno.setMode(Adafruit_BNO055::OPERATION_MODE_NDOF);
}

void loop()
{
    // Read IMU data
    sensors_event_t event;
    bno.getEvent(&event);

    // Calculate pitch and roll angles
    float pitch = event.orientation.x;
    float roll = event.orientation.y;

    // Calculate motor speeds
    int speed1 = map(pitch, -90, 90, -255, 255);
    int speed2 = -speed1;
    int speed3 = map(roll, -90, 90, -255, 255);
    int speed4 = -speed3;

    // Set motor speeds
    motor1->setSpeed(abs(speed1));
    motor2->setSpeed(abs(speed2));
    motor3->setSpeed(abs(speed3));
    motor4->setSpeed(abs(speed4));

    // Set motor directions
    if (speed1 >= 0)
    {
        motor1->run(FORWARD);
    }
    else
    {
        motor1->run(BACKWARD);
    }

    if (speed2 >= 0)
    {
        motor2->run(FORWARD);
    }
    else
    {
        motor2->run(BACKWARD);
    }

    if (speed3 >= 0)
    {
        motor3->run(FORWARD);
    }
    else
    {
        motor3->run(BACKWARD);
    }

    if (speed4 >= 0)
    {
        motor4->run(FORWARD);
    }
    else
    {
        motor4->run(BACKWARD);
    }

    // Print motor speeds and directions
    Serial.print("Speed1: ");
    Serial.print(speed1);
    Serial.print(", Direction1: ");
    Serial.print(speed1 >= 0 ? "FORWARD" : "BACKWARD");
    Serial.print("\tSpeed2: ");
    Serial.print(speed2);
    Serial.print(", Direction2: ");
    Serial.print(speed2 >= 0 ? "FORWARD" : "BACKWARD");
    Serial.print("\tSpeed3: ");
    Serial.print(speed3);
    Serial.print(", Direction3: ");
    Serial.print(speed3 >= 0 ? "FORWARD" : "BACKWARD");
    Serial.print("\tSpeed4: ");
    Serial.print(speed4);
    Serial.print(", Direction4: ");
    Serial.println(speed4 >= 0 ? "FORWARD" : "BACKWARD");

    // Delay for 10 milliseconds
    delay(10);
}

这个代码使用了Adafruit_MotorShield库和Adafruit_BNO055库，可以通过IMU读取pitch和roll角度，并计算适当的电机速度来控制四个电机。它还使用了TB6612驱动器来实现闭环电机控制。