{"id":160,"date":"2020-11-18T14:42:31","date_gmt":"2020-11-18T05:42:31","guid":{"rendered":"http:\/\/practical.kr\/?p=160"},"modified":"2020-11-18T14:59:44","modified_gmt":"2020-11-18T05:59:44","slug":"jetson-nano-pca9685-l298n-dc-motor-4%eb%a5%9c%ea%b5%ac%eb%8f%99-%ec%9e%90%eb%8f%99%ec%b0%a8","status":"publish","type":"post","link":"http:\/\/practical.kr\/?p=160","title":{"rendered":"Jetson Nano, PCA9685, L298N, DC-Motor 4\ub95c\uad6c\ub3d9 \uc790\ub3d9\ucc28"},"content":{"rendered":"\n
\"\"
Jetson Nano\ub97c \uc5b9\uc5b4\uc11c \uc644\uc131\ub41c \uc790\ub3d9\ucc28<\/figcaption><\/figure><\/div>\n\n\n\n

Jetson Nano\ub97c \ucda9\ub3d9\uc801\uc73c\ub85c \uad6c\uc785\ud558\uace0 (http:\/\/practical.kr\/?p=125<\/a>) \ud14c\uc2a4\ud2b8\ub97c \ud574\ubcf8 \ud6c4 \ubb58 \ub9cc\ub4e4\uae4c \uace0\ubbfc\uc744 \ud558\ub2e4\uac00 \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4e4\uc5b4 \ubcfc\uae4c? \uc0dd\uac01\uc744 \ud588\ub2e4. \uc804\ub144\ub3c4\uc5d0 \ub77c\uc988\ubca0\ub9ac\ud30c\uc774\ub97c \uc774\uc6a9\ud574\uc11c \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4e4\ub824\uace0 \uad6c\ub9e4\ud574 \ub450\uc5c8\ub358 4\ub95c \uc790\ub3d9\ucc28 \ubc14\ub514\uac00 \uadf8\ub300\ub85c \uc788\uc5b4\uc11c \uc5ec\uae30\uc5d0 \uc82f\uc2a8\ub098\ub178\ub97c \uc5b9\uc5b4 \ubcf4\uae30\ub85c \ud588\ub2e4. <\/p>\n\n\n\n

\uc2e4\ud328\ud55c\uc774\uc720<\/p>\n\n\n\n

\uadfc\ub370 \uc0dd\uac01\ud574 \ubcf4\ub2c8 \uadf8\ub54c \ub77c\uc988\ubca0\ub9ac \uae30\ubc18\uc758 \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4e4\ub2e4 \uadf8\ub9cc\ub454 \uc774\uc720\uac00 \ub77c\uc988\ubca0\ub9ac\ud30c\uc774\uc758 Digital I\/O \uc758 \uc22b\uc790\uac00 \ubd80\uc871\ud558\ub2e4\ub294\uac78 \uc54c\uace0 \ub098\uc11c\uc600\ub2e4. \ubc14\ud034\ud558\ub098\ub97c \uad6c\ub3d9\ud558\ub824\uba74 \ubaa8\ud130\ub4dc\ub77c\uc774\ube0c \ucee8\ud2b8\ub864\ub7ec\ub97c \uc368\uc57c\ud558\ub294\ub370 \uc8fc\ub85c L298N\uc744 \ub9ce\uc774 \uc0ac\uc6a9\ud55c\ub2e4. \ub300\ub7b5 \uc544\ub798\uc640 \uac19\uc740 \uc5f0\uacb0\ub85c \ubaa8\ud130 \ub450\uac1c\ub97c \uc6c0\uc9c1\uc77c \uc218 \uc788\ub2e4.<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

\uc804\uc6d0\ubd80\ub97c \uc81c\uc678\ud558\uace0 \ubaa8\ud130 4\uac1c\ub97c \uad6c\ub3d9\ud558\ub824\uba74 12\uac1c\uc758 DIO\ub97c \uc0ac\uc6a9\ud574\uc57c \ud55c\ub2e4. \ub77c\uc988\ubca0\ub9ac\uc5d0\uc11c IO\ub97c \ubaa8\ub450 \ub04c\uc5b4\uc4f0\uba74 \ub300\ucda9 \ub9de\uae34\ud55c\ub370 \uc774\ub7ec\uba74 \ub2e4\ub978 \uc791\uc5c5\uc744 \uc804\ud600 \ud560 \uc218\uac00 \uc5c6\ub2e4. \uadf8\ub798\uc11c \uc8fc\ub85c 2\ub95c \uad6c\ub3d9\uc73c\ub85c \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4dc\ub294\uac8c \uc544\ub2cc\uac00 \ud558\ub294 \uc0dd\uac01\uc744 \ud558\uace0 \ubc14\ud034\ub97c \uc0c8\ub85c \uc0ac\uae30\uac00 \uc2eb\uc5b4\uc11c \uadf8\ub0e5 \uadf8\ub9cc \ub450\uace0 \ub9d0\uc558\ub2e4. <\/p>\n\n\n\n

PCA9685<\/p>\n\n\n\n

\uc774\ub807\uac8c \uc0dd\uacbc\ub2e4<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

\uadf8\ub798\ub3c4 \uc82f\uc2a8\uc740 \ubb54\uac00 \uc880 \ub2e4\ub974\uaca0\uc9c0 \uc2f6\uc5c8\uc9c0\ub9cc \ub77c\uc988\ubca0\ub9ac\uc640 \uc82f\uc2a8\ub098\ub178\uc758 IO Pin \uad6c\uc870\ub294 \uac70\uc758(?) \ub3d9\uc77c\ud558\ub2e4. \uadf8\ub7f0\ub370 \uc2a4\ud130\ub514\uc911 Nvidia – Jetbot \uc5d0\uc11c\ub294 PCA9685 \ub77c\ub294 \ucee8\ud2b8\ub864\ub7ec\ub97c \uc4f0\uace0 \uc788\uc5c8\ub2e4. \uc82f\uc2a8\uacfc I2C\ub85c \ud1b5\uc2e0\uc744 \ud558\uace0 16\uac1c\uc758 dio \ucc44\ub110\uc744 \uac00\uc9c4 PWM \ucee8\ud2b8\ub864\ub7ec \uc600\ub2e4. \ub300\ub7b5 \uc544\ub798\uc758 \uadf8\ub9bc\uacfc \uac19\uc774 \ubb38\uc5b4\ubc1c(?)\uc744 \ub9cc\ub4e4 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n

https:\/\/cdn-shop.adafruit.com\/datasheets\/PCA9685.pdf<\/a><\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

\uc774\uac78 \ud65c\uc6a9\ud558\uba74 \uc82f\uc2a8\ub098\ub178\uc5d0\uc11c\ub294 4\ud540\uc758 I2C \uc785\ucd9c\ub825 \ub9cc\uc73c\ub85c 4\uac1c\uc758 \ubaa8\ud130\ub97c \uad6c\ub3d9\ud560 \uc218 \uc788\uace0 \ub098\uba38\uc9c0\ud540\ub4e4\uc740 \ub2e4\ub978\uc6a9\ub3c4\ub85c \ud65c\uc6a9\ud560 \uc218\ub3c4 \uc788\ub2e4. \ud0dd\ubc30\ube44 \ud3ec\ud568\ud574\uc11c 2\uac1c\uc5d0 \ub9cc\uc6d0\uc815\ub3c4\ub2c8\uae4c \ube44\uc2f8\uc9c0\ub3c4 \uc54a\ub2e4.<\/p>\n\n\n\n

\uac80\uc0c9\uc744 \ud574\ubcf4\uba74 \uc8fc\ub85c \uc11c\ubcf4\ubaa8\ud130\ub97c \uc6b4\uc6a9\ud560\ub54c \uc0ac\uc6a9\ud558\ub294\ub370 DC\ubaa8\ud130\ub97c \uc81c\ub300\ub85c \ucee8\ud2b8\ub864 \ud558\ub824\uba74 \uc544\ub798 \uadf8\ub9bc\uacfc \uac19\uc774 L298N\uacfc \ud568\uaed8 \uc5f0\uacb0\ud574\uc918\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

\uc790\ub3d9\ucc28\uc758 \ud558\uccb4<\/p>\n\n\n\n

\ud558\uccb4\uc758 \uc911\uac04\uc5d0 PCA9685\ub97c \ub193\uace0 \uc55e\ub4a4\ub85c L298N \ubaa8\ud130 \ucee8\ud2b8\ub864\ub7ec\ub97c \uc5f0\uacb0\ud588\ub2e4.\ubaa8\ud130 \uad6c\ub3d9\uc744 \uc704\ud55c \ubcc4\ub3c4\uc758 \uc804\uc6d0\uc740 9V \uac74\uc804\uc9c0\ub97c \uc0ac\uc6a9\ud588\ub294\ub370 \uc870\ub9bd\uc911 \ud14c\uc2a4\ud2b8\uc5d0\uc11c\ub294 \ubcc4 \ubb38\uc81c \uc5c6\uc774 \ubc14\ud034\uac00 \uc798 \ub3cc\uc558\ub294\ub370 \ub2e4 \uc870\ub9bd\ud558\uace0 \uc911\ub7c9\uc774 \ubb34\uac70\uc6cc\uc9c0\ub2c8 \uc804\ud6c4\uc9c4\uc774 \uc548\ub418\uc5c8\ub2e4. \uadf8\ub798\uc11c 9V \uac74\uc804\uc9c0 \ub450\uac1c\ub97c \ubcd1\ub82c\ub85c \uc5f0\uacb0\ud588\ub2e4. \uc6c0\uc9c1\uc774\uae34 \ud558\ub294\ub370 \ud798\uc774 \uc5c6\uc5c8\ub2e4. \uc5ed\uc2dc \uc804\uae30 \uc790\ub3d9\ucc28\ub294 \ubc30\ud130\ub9ac\uac00 \uc911\uc694\ud558\ub2e4. \ud55c\uac1c \ub354 \ub2ec\ub358\uc9c0 \ud574\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n

\"\"
\ud558\uccb4 \uc870\ub9bd\uc911<\/figcaption><\/figure><\/div>\n\n\n\n
\"\"
\ud558\uccb4 \uc870\ub9bd\uc644\ub8cc<\/figcaption><\/figure><\/div>\n\n\n\n

\ucc28\uccb4\uc870\ub9bd<\/p>\n\n\n\n

\"\"
\uc870\ub9bd\ud6c4 <\/figcaption><\/figure><\/div>\n\n\n\n

\uc9e7\uc740 \ubaa9\ud45c\uac00 \uc870\ub9bd & \uc774\ub3d9 \uc774\uc5c8\uae30 \ub54c\ubb38\uc5d0 \uac00\uc9c0\uace0 \uc788\ub358 \uc774\ub7f0\uc800\ub7f0 \ubd80\ud488\ub4e4\uc744 \ubaa8\uc544 \ubaa8\uc544 \ubaa8\ub2c8\ud130, \uc82f\uc2a8\ub098\ub178 & \ubaa8\ub2c8\ud130 \uc804\uc6d0\uc744 \uc704\ud55c \ucda9\uc804 \ubc30\ud130\ub9ac \ud5a5\ud6c4 \uc0ac\uc6a9\ud560 \uce74\uba54\ub77c\uae4c\uc9c0 \uc870\ub9bd\uc744 \ud588\ub2e4.<\/p>\n\n\n\n

\uc18c\ud504\ud2b8\uc6e8\uc5b4<\/p>\n\n\n\n

\uac80\uc0c9\uc744 \ud574\ubcf4\ub2c8 PCA9685\ub97c \ud65c\uc6a9\ud558\ub294 \ub300\ubd80\ubd84\uc758 \uc148\ud50c\ub4e4\uc774 \uc11c\ubcf4\ubaa8\ud130 \uad6c\ub3d9\uc6a9\uc774\ub77c \ucc3e\uae30\uac00 \uc27d\uc9c0\ub294 \uc54a\uc558\ub294\ub370 \ub2e4\ud589\ud788 \uc6d0\ub798 \ubcf4\ub4dc \uc81c\uc791\uc0ac\uc5d0\uc11c \ub9cc\ub4e0 \ud30c\uc774\uc36c\uc6a9 \ub77c\uc774\ube0c\ub7ec\ub9ac\uac00 \uc788\uc5c8\ub2e4. \ub9c1\ud06c\ucc38\uc870<\/p>\n\n\n\n

https:\/\/github.com\/adafruit\/Adafruit_CircuitPython_Motor<\/a><\/p>\n\n\n\n

https:\/\/cdn-learn.adafruit.com\/downloads\/pdf\/adafruit-16-channel-servo-driver-with-raspberry-pi.pdf<\/a><\/p>\n\n\n\n

\uc704 \ub77c\uc774\ube0c\ub7ec\ub9ac\ub97c \uae30\ubc18\uc73c\ub85c \uc544\ub798\uc640 \uac19\uc740 \ucf54\ub4dc\ub97c \ub9cc\ub4e4\uc5b4 \uc790\ub3d9\ucc28\ub97c \uc6c0\uc9c1\uc5ec \ubd24\ub2e4. \uc798 \uc6c0\uc9c1\uc778\ub2e4.<\/p>\n\n\n\n

import time\nimport busio\n\nfrom board import SCL, SDA\nfrom adafruit_pca9685 import PCA9685\nfrom adafruit_motor import motor\n\ni2c = busio.I2C(SCL, SDA)\n\npca = PCA9685(i2c, address=0x40)\npca.frequency = 100\n\npca.channels[0].duty_cycle = 0xFFFF\npca.channels[5].duty_cycle = 0xFFFF\npca.channels[6].duty_cycle = 0xFFFF\npca.channels[11].duty_cycle = 0xFFFF\n\nmotor1 = motor.DCMotor(pca.channels[1], pca.channels[2])\nmotor2 = motor.DCMotor(pca.channels[3], pca.channels[4])\nmotor3 = motor.DCMotor(pca.channels[8], pca.channels[7])\nmotor4 = motor.DCMotor(pca.channels[10], pca.channels[9])\n\nprint(\"Forwards slow\")\nmotor1.throttle = 0.5\nmotor2.throttle = 0.5\nmotor3.throttle = 0.5\nmotor4.throttle = 0.5\ntime.sleep(3)\n\nprint(\"Forwards\")\nmotor1.throttle = 1\nmotor2.throttle = 1\nmotor3.throttle = 1\nmotor4.throttle = 1\ntime.sleep(3)\n\nprint(\"Backwards\")\nmotor1.throttle = -1\nmotor2.throttle = -1\nmotor3.throttle = -1\nmotor4.throttle = -1\ntime.sleep(3)\n\nprint(\"Backwards slow\")\nmotor1.throttle = -0.5\nmotor2.throttle = -0.5\nmotor3.throttle = -0.5\nmotor4.throttle = -0.5\ntime.sleep(3)\n\nprint(\"Stop\")\nmotor1.throttle = 0\nmotor2.throttle = 0\nmotor3.throttle = 0\nmotor4.throttle = 0\ntime.sleep(3)\n\nprint(\"Spin freely\")\nmotor1.throttle = None\nmotor2.throttle = None\nmotor3.throttle = None\nmotor4.throttle = None\n\npca.deinit()<\/pre>\n\n\n\n
\uc704 \uc18c\uc2a4\uc640 \ud0a4\uc785\ub825\uc73c\ub85c \uc804, \ud6c4, \uc88c, \uc6b0\ub85c \uc774\ub3d9\ud558\ub294 \uc18c\uc2a4\ub97c \uc544\ub798 \ub9c1\ud06c\uc5d0 \uacf5\uc720 \ud588\ub2e4. <\/p>\n\n\n\n
https:\/\/github.com\/bipark\/jetson-nano-car<\/a><\/p>\n\n\n\n
\uc2e4\uc81c \uc82f\uc2a8 \ub098\ub178\uc758 GPU\ub97c \uae30\ubc18\uc73c\ub85c \uc790\ub3d9\ucc28\uc640 \ud568\uaed8 \ud560 \uc218 \uc788\ub294 \uc77c\ub4e4\uc774 \ub9ce\uc744\uac83 \uac19\uc740\ub370 \uadf8\uac74 \ub2e4\uc74c\uc5d0 \ud574\ubcf4\uae30\ub85c \ud558\uace0 \uc624\ub298\uc740 \uc5ec\uae30\uae4c\uc9c0… <\/p>\n\n\n\n
\"\"<\/figure><\/div>\n\n\n\n
\"\"<\/figure><\/div>\n","protected":false},"excerpt":{"rendered":"
Jetson Nano\ub97c \ucda9\ub3d9\uc801\uc73c\ub85c \uad6c\uc785\ud558\uace0 (http:\/\/practical.kr\/?p=125) \ud14c\uc2a4\ud2b8\ub97c \ud574\ubcf8 \ud6c4 \ubb58 \ub9cc\ub4e4\uae4c \uace0\ubbfc\uc744 \ud558\ub2e4\uac00 \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4e4\uc5b4 \ubcfc\uae4c? \uc0dd\uac01\uc744 \ud588\ub2e4. \uc804\ub144\ub3c4\uc5d0 \ub77c\uc988\ubca0\ub9ac\ud30c\uc774\ub97c \uc774\uc6a9\ud574\uc11c \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4e4\ub824\uace0 \uad6c\ub9e4\ud574 \ub450\uc5c8\ub358 4\ub95c \uc790\ub3d9\ucc28 \ubc14\ub514\uac00 \uadf8\ub300\ub85c \uc788\uc5b4\uc11c \uc5ec\uae30\uc5d0 \uc82f\uc2a8\ub098\ub178\ub97c \uc5b9\uc5b4 \ubcf4\uae30\ub85c \ud588\ub2e4. \uc2e4\ud328\ud55c\uc774\uc720 \uadfc\ub370 \uc0dd\uac01\ud574 \ubcf4\ub2c8 \uadf8\ub54c \ub77c\uc988\ubca0\ub9ac \uae30\ubc18\uc758 \uc790\ub3d9\ucc28\ub97c \ub9cc\ub4e4\ub2e4 \uadf8\ub9cc\ub454 \uc774\uc720\uac00 \ub77c\uc988\ubca0\ub9ac\ud30c\uc774\uc758 Digital I\/O \uc758 \uc22b\uc790\uac00 \ubd80\uc871\ud558\ub2e4\ub294\uac78 \uc54c\uace0 \ub098\uc11c\uc600\ub2e4. \ubc14\ud034\ud558\ub098\ub97c \uad6c\ub3d9\ud558\ub824\uba74<\/p>\n
\n\t\t\t\t Read More <\/span> <\/i><\/a>\n\t\t\t<\/div>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[33,36,39,35],"tags":[],"class_list":["post-160","post","type-post","status-publish","format-standard","hentry","category-iot","category-jetsonnano","category-pca9685","category-python"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"http:\/\/practical.kr\/index.php?rest_route=\/wp\/v2\/posts\/160","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/practical.kr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/practical.kr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/practical.kr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/practical.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=160"}],"version-history":[{"count":10,"href":"http:\/\/practical.kr\/index.php?rest_route=\/wp\/v2\/posts\/160\/revisions"}],"predecessor-version":[{"id":180,"href":"http:\/\/practical.kr\/index.php?rest_route=\/wp\/v2\/posts\/160\/revisions\/180"}],"wp:attachment":[{"href":"http:\/\/practical.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=160"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/practical.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=160"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/practical.kr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=160"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}