arduino 控制电机

基于Arduino的PWM电机调速+数码管档位显示实例教程0 引言本实例适用于Arduino/机器人编程（创客）爱好者完成初级知识学习后，通过实际的综合项目训练，达到融会贯通解决实际问题的能力。

实例和代码均经本人测试无误，供有兴趣的朋友参考探讨。

1功能对直流电机转速进行PWM调节控制，设为九档（档位通过1位数码管进行显示），红色按键每按下一次加一档；黑色按键每按下一次减一档。

2 工作原理通过Arduino端口的脉宽调制输出功能，对直流电机的工作电压进行脉宽调制，从而改变电机的工作电压，达到调试目的。

本实例采用Arduino UNO自带5V电源，分为九档，并通过一位数码管显示出来。

3 需要的组件Arduino uno x1；直流小电机 x1；按键x2；一位数码管x1；ULN2003电机驱动芯片x1；导线若干4连线数码管：定义数字接口9 连接a 段数码管，数字接口11连接b 段数码管，数字接口4 连接c 段数码管，数字接口5 连接d 段数码管，数字接口6 连接e 段数码管，数字接口12 连接f 段数码管，数字接口13连接g 段数码管，小数点位该项目不用，直接接高电平5v即可。

ULN2003：电机负极接到驱动芯片in4引脚，in4再接到Arduino UNO的数字10端口。

按键：加速按键（红色）使用数字口7，减速按键（黑色）使用数字口8。

5代码int a= 9;//定义数字接口9 连接a 段数码管int b= 11;// 定义数字接口11连接b 段数码管int c= 4;// 定义数字接口4 连接c 段数码管int d= 5;// 定义数字接口5 连接d 段数码管int e= 6;// 定义数字接口6 连接e 段数码管int f= 12;// 定义数字接口12 连接f 段数码管int g= 13;// 定义数字接口13连接g 段数码管//int dp=3;// 该项目不用，直接接高电平5v即可int motor = 10; //电机负极接到驱动板in4，in4再接到数字10int key = 7; //加速按键使用数字口7int key2 = 8; //减速速按键使用数字口8int val = 0,val_0 = 0; //加速按键松开检测状态量int val2 = 0,val2_0 = 0; //减速按键松开检测状态量int speed_0,n=0;void setup(){int i;//定义变量for(i=4;i<=6;i++)pinMode(i,OUTPUT);//设置4～6 引脚为输出模式int j;//定义变量for(j=11;j<=13;j++)pinMode(j,OUTPUT);//设置11～13 引脚为输出模式pinMode(9, OUTPUT);pinMode(motor, OUTPUT);pinMode(key, INPUT);pinMode(key2, INPUT);Serial.begin(9600);}void display(int num){switch(num){default:{digitalWrite(a,HIGH);digitalWrite(b,HIGH);digitalWrite(c,HIGH);digitalWrite(d,HIGH);digitalWrite(e, HIGH);digitalWrite(f,HIGH);digitalWrite(g,HIGH);break; }case 0:{digitalWrite(a,LOW);digitalWrite(b,LOW);digitalWrite(c,LOW);digitalWrite(d,LOW);digitalWrite(e,LOW);digitalWrite(f,LOW);digitalWrite(g,HIGH);break; }case 1:{digitalWrite(a,HIGH);digitalWrite(b,LOW);digitalWrite(c,LOW);digitalWrite(d,HIGH);digitalWrite(e,HIGH);digitalWrite(f,HIGH);digitalWrite(g,HIGH);break;}case 2:{digitalWrite(a,LOW);digitalWrite(b,LOW);digitalWrite(c,HIGH);digitalWrite(d,LOW);digitalWrite(e,LOW);digitalWrite(f,HIGH);digitalWrite(g,LOW);break; }case 3:{digitalWrite(g,LOW);digitalWrite(a,LOW);digitalWrite(b,LOW);digitalWrite(c,LOW);digitalWrite(d,LOW);digitalWrite(f,HIGH);digitalWrite(e,HIGH);break; }case 4:{digitalWrite(c,LOW);digitalWrite(b,LOW);digitalWrite(f,LOW);digitalWrite(g,LOW); digitalWrite(a,HIGH);digitalWrite(e,HIGH);digitalWrite(d,HIGH);break;}case 5:{digitalWrite(a,LOW);digitalWrite(b,HIGH);digitalWrite(c,LOW);digitalWrite(d,LOW);digitalWrite(e, HIGH);digitalWrite(f,LOW);digitalWrite(g,LOW);break;}case 6:{digitalWrite(a,LOW);digitalWrite(b,HIGH);digitalWrite(c,LOW);digitalWrite(d,LOW);digitalWrite(e,LOW);digitalWrite(f,LOW);digitalWrite(g,LOW);break; }case 7:{digitalWrite(a,LOW);digitalWrite(b,LOW);digitalWrite(c,LOW);digitalWrite(d,HIGH);digitalWrite(e, HIGH);digitalWrite(f,HIGH);digitalWrite(g,HIGH);break; }case 8:{digitalWrite(a,LOW);digitalWrite(b,LOW);digitalWrite(c,LOW);digitalWrite(d,LOW);digitalWrite(e,LOW);digitalWrite(f,LOW);digitalWrite(g,LOW);break; }case 9:{digitalWrite(a,LOW);digitalWrite(b,LOW);digitalWrite(c,LOW);digitalWrite(d,LOW);digitalWrite(e,HIGH);digitalWrite(f,LOW);digitalWrite(g,LOW);break; }}}void loop(){//加速按键模块val=digitalRead(key);if(val!=val_0){delay(500);if(val==1){n++;}if(n>=9) n = 9;}val_0=digitalRead(key);//减速按键模块val2 = digitalRead(key2); if(val2!=val2_0){delay(500);if(val2==1){n--;}if(n<=0) n = 0;}val2_0=digitalRead(key2);Serial.println(n);display(n);delay(20);speed_0 = n *(252 / 9);analogWrite(motor, speed_0); //驱动电机旋转 }6 实物运行。

arduino 直流无刷电机调速换向原理Arduino is a popular platform among electronics enthusiasts and hobbyists for its versatility and ease of use. One common application on Arduino is controlling DC brushless motors with speed and direction control. In this article, we will explore the principles behind controlling a brushless motor using Arduino.我们需要了解直流无刷电机的工作原理。

直流无刷电机由一个固定不动的部分称为定子和一个可以旋转的部分称为转子组成。

在转子上有多个永磁体，它们会产生磁场。

The first thing to understand is the working principle of a DC brushless motor. A brushless motor consists of a stationary part called the stator and a rotating part called the rotor. The rotor has multiple permanent magnets that generate a magnetic field.当我们给电机供电时，通过适当的控制信号，我们可以改变定子中的电流方向，使得定子中的磁场与转子上永磁体的磁场之间产生相互作用。

这种相互作用导致了转子开始旋转。

When we provide power to the motor, by controlling the current direction in the stator through appropriate control signals, we can create an interaction between the magnetic field in the stator and the magnetic field generated by the permanent magnets on the rotor. This interaction causes the rotor to start rotating.为了实现调速和换向，并控制直流无刷电机的运行，我们可以使用Arduino来生成PWM信号和相序控制信号。

Arduino Nano连接电机驱动板控制电机程序1. 引言Arduino Nano是一款小型化的Arduino开发板，具有体积小、功能强大的特点。

电机驱动板用于控制电机的运行和转动方向。

本文将详细介绍如何使用Arduino Nano连接电机驱动板，并编写程序控制电机的运行和转动方向。

2. 准备工作在开始连接Arduino Nano和电机驱动板之前，我们需要准备以下材料：•Arduino Nano开发板•电机驱动板•直流电机•杜邦线若干3. 连接电路1.将Arduino Nano和电机驱动板连接起来。

使用杜邦线将Arduino Nano的数字引脚D2连接到电机驱动板的IN1引脚，将D3连接到IN2引脚，将D4连接到IN3引脚，将D5连接到IN4引脚。

2.将电机驱动板的GND引脚连接到Arduino Nano的GND引脚。

3.将电机驱动板的电源引脚连接到外部电源，根据电机的额定电压选择合适的电源。

4. 编写程序接下来，我们需要编写程序来控制电机的运行和转动方向。

以下是一个示例程序：// 定义引脚int in1 = 2;int in2 = 3;int in3 = 4;int in4 = 5;void setup() {// 设置引脚为输出模式pinMode(in1, OUTPUT);pinMode(in2, OUTPUT);pinMode(in3, OUTPUT);pinMode(in4, OUTPUT);}void loop() {// 顺时针旋转digitalWrite(in1, HIGH);digitalWrite(in2, LOW);digitalWrite(in3, HIGH);digitalWrite(in4, LOW);delay(2000); // 延迟2秒// 反时针旋转digitalWrite(in1, LOW);digitalWrite(in2, HIGH);digitalWrite(in3, LOW);digitalWrite(in4, HIGH);delay(2000); // 延迟2秒}上述程序中，我们通过设置引脚的电平来控制电机的运行和转动方向。

用Arduino控制无刷电机电调的最简方法关于电调的控制信号：电调信号是pwm信号，信号频率为50Hz，一个周期为20ms。

对于电调来讲，高电平脉宽为1ms表示停转，高电平脉宽为2ms表示满油门运转;对于舵机来说1.5ms是归中,1ms和2ms分别为左右满舵。

（因此下面才直接用Servo库来给实现ESC信号的输出）。

关于Servo.write()和Servo.writeMicroseconds()0.Servo.writeMicroseconds(): Writes a value in microseconds (uS) tothe servo, controlling the shaft accordingly. On a standard servo, this willset the angle of the shaft. On standard servos a parameter value of 1000 isfully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle.1.servo.write() allows a maximum of 180 servo positionsservo.writeMicroseconds() allows a maximum of 1000 servo positions2.The 'write' method simply maps the'degrees' to microseconds and calls the 'writeMicroseconds'method anyway.The 'degree' of turn is simply a convenientabstraction, and few bother to calibrate it.控制程序：1. #include<Servo.h> // Using servo library to control ESC2. Servo esc; //Creating a servo class with name as esc3. int val; //Creating a variable val4. void setup()5. {6. esc.attach(9); //Specify the esc signal pin,Here as D97. esc.writeMicroseconds(1000);// initialize the signal to 10008. Serial.begin(9600);9. }10. void loop()11. {12. val=analogRead(A0); // Read input from analog pin a0 and store in val13. val= map(val, 0,1023,1000,2000); // mapping val to minimum and maximum(Change if needed)14. Serial.println(val);15. esc.writeMicroseconds(val);// using val as the signal to esc16. }补充：电调1ms停转，2ms满油门运转，是指的单向电调，且是方波脉冲。

64 | 电子制作 2020年04月0 引言2020年，机器人迎来了正式工业应用的第58个年头。

在各种各样的新兴科技技术发展的推动下，机器人已经成为改变未来世界的颠覆性科技之一。

机器人技术正从以前的工业阶级向家庭、教育、娱乐、救援等阶级迅速发展。

因此产生了多种优秀的机器人软件框架，而机器人操作系统ROS 就是最适合我们来进行机器人开发的最常用的软件框架，本文主要也是研究了ROS 的使用。

同时还选取了Arduino 电机驱动板来作为受控的下位机，Arduino 是一款容易上手、灵活使用的开源电子平台，主要是能够轻松的与各类传感器、电子元件和拓展模块进行结合。

通过了研究调查，我从而选取了UP board 开发板作为搭载ROS 的主要载体，通过ROS 独特的分布式通信机制，进而利用多种功能包实现了模块间的点对点的松耦合连接，同时根据独特的PID 控制算法来对Arduino 电机驱动板进行调节，进而实现对于小车的辅助控制。

1 总体设计方案该算法的主要研究是建立在UP board 开发板上的，UP board 板上搭载是ROS（机器人操作系统），PID 算法主要是由此系统来进行的，通过Arduino 电机控制板上的MPU6050陀螺仪加速度模块和两个直流电机上所搭载的编码器所读取到的数据来对小车实现控制。

整体方案主要分成两个部分，一部分是上位机控制，主要包含了UP board 开发板、ROS（机器人操作系统）、8400mAh 容量5V 输出的电池。

而另外一部分则是受控的下位机，主要包含了TB6612NG 电机驱动模块、MPU6050陀螺仪加速模块、AB相位霍尔编码器、Teensy3.2。

图1 总体设计方案2 各个组成部分本设计设计主要是通过MPU16050陀螺仪加速度计模块和AB 相位霍尔编码器进行读取数据，将读取的数据通过Teensy3.2进行传输，传输到上位机中进行系统运算，上位机选取的是UPboard 开发板，开发板中主要搭载了Ubuntu 16.04系统上的ROS Kinetic 版本，ROS 中有许多性能完善的功能的包可以供我们进行开发使用，最后将处理好的数据再通过Teensy3.2传回Arduino 控制板的TB6612电机驱动模块进行电机驱动。

开源步进驱动方案引言步进驱动器是控制步进电机运动的关键组件之一。

随着开源硬件和开源软件的兴起，越来越多的开源步进驱动方案被开发出来。

本文将介绍几个常见的开源步进驱动方案，包括Arduino、Raspberry Pi和GRBL。

1. Arduino步进驱动方案Arduino是一款简单易用的开源硬件平台，广泛用于各种实时控制系统。

它可以通过连接步进驱动器实现对步进电机的精准控制。

1.1 可靠性和稳定性Arduino步进驱动方案的一个主要优点是其可靠性和稳定性。

Arduino硬件经过严格测试，并且有大量的社区支持和开发资源可用。

这意味着你可以轻松获取到教程、示例代码和经验交流，从而提高系统的稳定性。

1.2 简单易用Arduino步进驱动方案的另一个优点是其简单易用。

Arduino开发板上的GPIO 引脚可以直接连接到步进驱动器的控制引脚，而无需额外的电路或接口。

此外，Arduino IDE提供了简单易上手的编程环境，使得编写控制步进电机的代码变得非常简单。

1.3 开源社区支持Arduino步进驱动方案拥有庞大的开源社区支持。

你可以轻松找到大量的开源库和示例代码，从而加快开发速度。

此外，你还可以参与到社区讨论中，与其他开发者分享经验，共同解决问题。

2. Raspberry Pi步进驱动方案Raspberry Pi是一款功能强大的单板计算机，具有Linux操作系统和丰富的GPIO扩展能力。

它也可以通过连接步进驱动器实现对步进电机的控制。

2.1 Linux系统支持Raspberry Pi步进驱动方案的一个重要特点是其Linux系统支持。

由于Raspberry Pi基于Linux系统，因此你可以直接使用Python或其他编程语言编写驱动程序。

此外，你还可以利用Linux的强大功能，如多线程和网络通信，实现更复杂的控制功能。

2.2 多功能性Raspberry Pi步进驱动方案具有多功能性。

除了控制步进电机，你还可以利用Raspberry Pi的其他功能，如摄像头、传感器和显示屏，构建更复杂的系统。

步进电机的Arduino库函数This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it. For more on that, see .函数(steps, pin1, pin2) 步进电机定义(steps, pin1, pin2, pin3, pin4) 步进电机定义Description 解释This function creates a new instance of the Stepper class that represents a particular stepper motor attached to your Arduino board. Use it at the top of your sketch, above setup() and loop(). The number of parameters depends on how you've wired your motor - either using two or four pins of the Arduino board.Parameters 参数steps: the number of steps in one revolution of your motor. If your motor gives the number of degrees per step, divide that number into 360 to get the number of steps (e.g. 360 / 3.6 gives 100 steps). (int) ⼀圈对应的步数pin1, pin2: two pins that are attached to the motor (int)pin3, pin4: optional the last two pins attached to the motor, if it's connected to four pins (int)Returns A new instance of the Stepper motor class.(rpm) 速度设定Description 解释Sets the motor speed in rotations per minute (RPMs). This function doesn't make the motor turn, just sets the speed at which it will when you call step().Parameters 参数rpms: the speed at which the motor should turn in rotations per minute - a positive number (long)Returns None ⽆返回值(steps) 步数执⾏DescriptionTurns the motor a specific number of steps, at a speed determined by the most recent call to setSpeed(). This function is blocking; that is, it will wait until the motor has finished moving to pass control to the next line in your sketch. For example, if you set the speed to, say, 1 RPM and called step(100) on a 100-step motor, this function would take a full minute to run. For better control, keep the speed high and only go a few steps with each call to step().Parameterssteps: the number of steps to turn the motor - positive to turn one direction, negative to turn the other (int)Returns None举例例1 Stepper Motor Knob ⽤电位器控制步进电机步数Control a highly accurate stepper motor using a potentiometerStepper motors, due to their unique design, can be controlled to a high degree of accuracy without any feedback mechanisms. The shaft of a stepper, mounted with a series of magnets, is controlled by a series of electromagnetic coils that are charged positively and negatively in a specific sequence, precisely moving it forward or backward in small "steps".There are two types of steppers, Unipolars and Bipolars, and it is very important to know which type you are working with. For each of the motors, there is a different circuit. The example code will control both kinds of motors. See the and motor schematics for information on how to wire up your motor.In this example, a potentiometer (or other sensor) on analog input 0 is used to control the movement of a stepper motor using the . The stepper is controlled by with digital pins 8, 9, 10, and 11 for either unipolar or bipolar motors.The Arduino or Genuino board will connect to a if you're using a unipolar stepper or a if you have a bipolar motor.For more information about the differences of the two types, please take a look at .Hardware Required 硬件Arduino or Genuino Board10k ohm potentiometerstepper motorU2004 Darlington Array (if using a unipolar stepper)SN754410ne H-Bridge (if using a bipolar stepper)power supply appropriate for your particular stepperhook-up wiresbreadboardCircuits 电路Below you'll find circuits for both unipolar and bipolar steppers. In either case, it is best to power your stepper motors from an external supply, as they draw too much to be powered directly from your Arduino board.In both circuits, connect a 10k pot to power and ground, with it's wiper outputting to analog pin 0.Note: Both circuits below are four wire configurations. Two wire configurations will not work with the code provided.Unipolar Stepper Circuit and schematic：Bipolar Stepper Circuit and schematic：Code 程序For both unipolar and bipolar steppers1/*2* MotorKnob3** A stepper motor follows the turns of a potentiometer (or other sensor) on analog input 0.4** /en/Reference/Stepper5* This example code is in the public domain.6*/78 #include <Stepper.h>9#define STEPS 100 // change this to the number of steps on your motor10// create an instance of the stepper class, specifying11// the number of steps of the motor and the pins it's attached to12 Stepper stepper(STEPS, 8, 9, 10, 11);13int previous = 0; // the previous reading from the analog input1415void setup()16 {17 stepper.setSpeed(30); // set the speed of the motor to 30 RPMs18 }1920void loop()21 {22int val = analogRead(0); // get the sensor value23// move a number of steps equal to the change in the sensor reading24 stepper.step(val - previous); // remember the previous value of the sensor25 previous = val;26 }例2 Stepper Speed Control ⽤电位器控制步进电机速度Control the stepping speed with a potentiometer硬件与电路部分，与上例同Code 程序For both unipolar and bipolar steppers1/*2Stepper Motor Control - speed control3This program drives a unipolar or bipolar stepper motor.4The motor is attached to digital pins 8 - 11 of the Arduino.5A potentiometer is connected to analog input 0.6 The motor will rotate in a clockwise direction. The higher the potentiometer value,the faster the motor speed. Because setSpeed() sets the delay between steps,you may notice the motor is less responsive to changes in the sensor value at 78Created 30 Nov. 2009，Modified 28 Oct 2010，by Tom Igoe9*/1011 #include <Stepper.h>12const int stepsPerRevolution = 200;13// change this to fit the number of steps per revolution14// for your motor initialize the stepper library on pins 8 through 11:15 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);16int stepCount = 0; // number of steps the motor has taken1718void setup()19 {20// nothing to do inside the setup21 }2223void loop()24 {25int sensorReading = analogRead(A0); // read the sensor value:26int motorSpeed = map(sensorReading, 0, 1023, 0, 100);27// map it to a range from 0 to 10028if (motorSpeed > 0) // set the motor speed:29 {30 myStepper.setSpeed(motorSpeed);31 myStepper.step(stepsPerRevolution / 100); // step 1/100 of a revolution:32 }33 }例3 Stepper One Revolution 正转⼀圈反转⼀圈Turn the shaft one revolution clockwise and one counterclockwise.硬件与电路部分，与上例同Code 程序For both unipolar and bipolar steppers1/*2Stepper Motor Control - one revolution3This program drives a unipolar or bipolar stepper motor.4The motor is attached to digital pins 8 - 11 of the Arduino.5 The motor should revolve one revolution in one direction, then one revolution in the other direction.67Created 11 Mar. 2007，Modified 30 Nov. 2009，by Tom Igoe8*/9 #include <Stepper.h>10const int stepsPerRevolution = 200;11// change this to fit the number of steps per revolution12// for your motor initialize the stepper library on pins 8 through 11:13 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);1415void setup()16 {17 myStepper.setSpeed(60); // set the speed at 60 rpm:18 Serial.begin(9600); // initialize the serial port:19 }2021void loop()22 {23 Serial.println("clockwise"); // step one revolution in one direction:24 myStepper.step(stepsPerRevolution);25 delay(500);26 Serial.println("counterclockwise"); // step one revolution in the other direction:27 myStepper.step(-stepsPerRevolution);28 delay(500);29 }例4 One step at a time ⼀次只⾛⼀步Turn the shaft step by step to check the proper wiring of the motor.硬件与电路部分，与上例同Code 程序For both unipolar and bipolar steppers1/*2Stepper Motor Control - one step at a time3This program drives a unipolar or bipolar stepper motor.4The motor is attached to digital pins 8 - 11 of the Arduino.5 The motor will step one step at a time, very slowly. You can use this to test that you've got the four wires of your stepper wired to the correct pins. If wired correctly, all steps should be in the same direction.6 Use this also to count the number of steps per revolution of your motor,if you don't know it. Then plug that number into the one Revolution example to see if you got it right.78Created 30 Nov. 2009，by Tom Igoe9*/1011 #include <Stepper.h>12const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution13// for your motor initialize the stepper library on pins 8 through 11:14 Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);15int stepCount = 0; // number of steps the motor has taken1617void setup()18 {19 Serial.begin(9600); // initialize the serial port:20 }2122void loop()23 {24 myStepper.step(1); // step one step:25 Serial.print("steps:");26 Serial.println(stepCount);27 stepCount++;28 delay(500);29 }。

arduino 运行伺服电机独立电源问题Arduino 运行伺服电机独立电源问题问题1: 为什么需要使用独立电源驱动伺服电机？•问题描述: 伺服电机通常需要较高的电流供应，并且具有较高的功耗。

Arduino 微控制器板上的电源通常只能提供较低的电流输出。

因此，当使用 Arduino 控制伺服电机时，需要额外的独立电源来提供足够的电流。

•解释说明: 由于Arduino微控制器板的电源输出有限，无法满足伺服电机的高功耗需求，仅通过Arduino供电往往导致电机运行不稳定或无法正常工作。

因此，需要使用独立电源来为伺服电机提供充足的电流，以确保其正常运行。

问题2: 如何选择适合的独立电源？•问题描述: 当选择独立电源来驱动伺服电机时，需要考虑以下因素：1.电压要求：伺服电机通常有特定的电源电压要求，需要选择电压输出与电机要求相匹配的电源；2.电流输出：根据伺服电机的额定电流和峰值电流，选择独立电源能够提供足够电流输出的电源；3.稳定性：独立电源应具备稳定的输出电压和电流，以确保伺服电机的正常工作；4.可靠性和安全性：选择品牌可靠、具有过载保护和过压保护功能的电源，以确保长时间稳定工作和防止电机损坏；•解释说明: 选择适合的独立电源是确保伺服电机能够稳定运行的关键。

通过考虑伺服电机的电压和电流需求，选择一个稳定可靠、安全保护的电源是必要的。

问题3: 如何连接独立电源和Arduino与伺服电机？•问题描述: 若要使用独立电源驱动伺服电机，需要正确连接电源和Arduino与电机之间的电路。

1.连接电源：将独立电源的正极和负极正确连接到伺服电机上，确保极性正确，以避免电机损坏。

2.连接Arduino：使用驱动电机的扩展板或模块，连接Arduino的PWM引脚和地线，以实现控制信号的传递。

3.线序连接：根据伺服电机的接线顺序，将电机的控制信号线连接到正确的Arduino引脚上，以确保控制信号的准确传递。

•解释说明: 正确连接独立电源、Arduino和伺服电机是保证驱动系统正常工作的前提。