ardunio控制TB6612驱动四路闭环电机控制代码

以下是基于Arduino控制TB6612驱动四路闭环电机的示例代码：

#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"

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

int motor1_encoder_pinA = 2;
int motor1_encoder_pinB = 3;
int motor2_encoder_pinA = 4;
int motor2_encoder_pinB = 5;
int motor3_encoder_pinA = 6;
int motor3_encoder_pinB = 7;
int motor4_encoder_pinA = 8;
int motor4_encoder_pinB = 9;

volatile int motor1_encoder_count = 0;
volatile int motor2_encoder_count = 0;
volatile int motor3_encoder_count = 0;
volatile int motor4_encoder_count = 0;

void motor1_encoder_interrupt() {
  if (digitalRead(motor1_encoder_pinA) == digitalRead(motor1_encoder_pinB)) {
    motor1_encoder_count++;
  } else {
    motor1_encoder_count--;
  }
}

void motor2_encoder_interrupt() {
  if (digitalRead(motor2_encoder_pinA) == digitalRead(motor2_encoder_pinB)) {
    motor2_encoder_count++;
  } else {
    motor2_encoder_count--;
  }
}

void motor3_encoder_interrupt() {
  if (digitalRead(motor3_encoder_pinA) == digitalRead(motor3_encoder_pinB)) {
    motor3_encoder_count++;
  } else {
    motor3_encoder_count--;
  }
}

void motor4_encoder_interrupt() {
  if (digitalRead(motor4_encoder_pinA) == digitalRead(motor4_encoder_pinB)) {
    motor4_encoder_count++;
  } else {
    motor4_encoder_count--;
  }
}

void setup() {
  pinMode(motor1_encoder_pinA, INPUT);
  pinMode(motor1_encoder_pinB, INPUT);
  pinMode(motor2_encoder_pinA, INPUT);
  pinMode(motor2_encoder_pinB, INPUT);
  pinMode(motor3_encoder_pinA, INPUT);
  pinMode(motor3_encoder_pinB, INPUT);
  pinMode(motor4_encoder_pinA, INPUT);
  pinMode(motor4_encoder_pinB, INPUT);
  
  attachInterrupt(digitalPinToInterrupt(motor1_encoder_pinA), motor1_encoder_interrupt, CHANGE);
  attachInterrupt(digitalPinToInterrupt(motor2_encoder_pinA), motor2_encoder_interrupt, CHANGE);
  attachInterrupt(digitalPinToInterrupt(motor3_encoder_pinA), motor3_encoder_interrupt, CHANGE);
  attachInterrupt(digitalPinToInterrupt(motor4_encoder_pinA), motor4_encoder_interrupt, CHANGE);

  AFMS.begin(); 
  motor1->setSpeed(255);
  motor2->setSpeed(255);
  motor3->setSpeed(255);
  motor4->setSpeed(255);
}

void loop() {
  // Motor 1 control
  if (motor1_encoder_count < 10000) {
    motor1->run(FORWARD);
  } else {
    motor1->run(RELEASE);
  }
  
  // Motor 2 control
  if (motor2_encoder_count < 10000) {
    motor2->run(FORWARD);
  } else {
    motor2->run(RELEASE);
  }
  
  // Motor 3 control
  if (motor3_encoder_count < 10000) {
    motor3->run(FORWARD);
  } else {
    motor3->run(RELEASE);
  }
  
  // Motor 4 control
  if (motor4_encoder_count < 10000) {
    motor4->run(FORWARD);
  } else {
    motor4->run(RELEASE);
  }
  
  delay(1);
}

该代码中，我们使用了Adafruit Motor Shield库来控制TB6612驱动器。我们还使用了中断计数器来读取四个电机的编码器并控制电机的旋转。在此示例代码中，我们设置了电机旋转10000个脉冲后停止旋转，但您可以根据您的特定应用程序进行更改。