折腾了好几天，实在搞不定了，决定上来社区求助。

现在的硬件情况是这样的：

- HM-GM37-3429霍尔传感器大载重电机，每个电机六条线，其中电机输入两个，霍尔编码器电源两个，编码器AB相两个

- 四个电机，不算电源线的话，每个电机要使用3个Arduino的端口(控制高低电平和PWM)+两个编码器AB相数据输入，共需要20个端口

- Arduino Uno

- L298N四路驱动器

- 12V电池

我遇到的问题是：

1. 不知道怎样接线才能把电机和霍尔编码器都用上

2. 考虑过扩展板，但即便用了Nano+扩展板能插上线，Arduino也只有1~13，A1~A7这么多的端口，如何能同时控制电机又可以获取到四个霍尔编码器的值？

还有就是目前电机总是时转时不转的，折腾了5，6个小时了不清楚原因，还望各位大神可以多支招，已排查以下情况：

- 全部杜邦线已用万用表测量过是通的

- L298N是正常的，用了两块同样的板子试过还是这样

- 电机用电池直连测试过是可以转的

唯一没有测过的就是Arduino Uno是不是正常的了，但这个不知道有没有简便的方法可以测试？

谢谢大家！

以下是我的测试代码：

[mw_shl_code=arduino,true]/*

* Sample Code for testing car running

*/

//Define the Pins

//Motor 1

int pinAIN1 = 4; //右前马达

int pinAIN2 = 2; //右前马达

int pinPWMA = 3; //右前马达PWM

int pinAIN3 = 7; //左前马达

int pinAIN4 = 6; //左前马达

int pinPWMB = 5; //左前马达PWM

int pinAIN5 = 10; //右后马达

int pinAIN6 = 8; //右后马达

int pinPWMC = 9; //右后马达PWM

int pinAIN7 = 12; //左后马达

int pinAIN8 = 13; //左后马达

int pinPWMD = 11; //左后马达PWM

//Standby

int pinSTBY = 12;

void setup()

{

Serial.begin(9600);

//Set the PIN Modes

pinMode(pinAIN1, OUTPUT);

pinMode(pinAIN2, OUTPUT);

pinMode(pinPWMA, OUTPUT);

pinMode(pinAIN3, OUTPUT);

pinMode(pinAIN4, OUTPUT);

pinMode(pinPWMB, OUTPUT);

pinMode(pinAIN5, OUTPUT);

pinMode(pinAIN6, OUTPUT);

pinMode(pinPWMC, OUTPUT);

pinMode(pinAIN7, OUTPUT);

pinMode(pinAIN8, OUTPUT);

pinMode(pinPWMD, OUTPUT);

pinMode(pinSTBY, OUTPUT);

}

void loop()

{

//12A

Serial.println("前");

int speed = 255;

digitalWrite(pinAIN1, 1);

digitalWrite(pinAIN2, 0);

analogWrite(pinPWMA, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMA, 0);

delay(1000);

Serial.println("后");

digitalWrite(pinAIN1, 0);

digitalWrite(pinAIN2, 1);

analogWrite(pinPWMA, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMA, 0);

delay(1000);

//34B

Serial.println("后");

digitalWrite(pinAIN3, 1);

digitalWrite(pinAIN4, 0);

analogWrite(pinPWMB, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMB, 0);

delay(1000);

Serial.println("前");

digitalWrite(pinAIN3, 0);

digitalWrite(pinAIN4, 1);

analogWrite(pinPWMB, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMB, 0);

delay(1000);

//56C

Serial.println("前");

digitalWrite(pinAIN5, 1);

digitalWrite(pinAIN6, 0);

analogWrite(pinPWMC, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMC, 0);

delay(1000);

Serial.println("后");

digitalWrite(pinAIN5, 0);

digitalWrite(pinAIN6, 1);

analogWrite(pinPWMC, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMC, 0);

delay(1000);

//78D

Serial.println("后");

digitalWrite(pinAIN7, 1);

digitalWrite(pinAIN8, 0);

analogWrite(pinPWMD, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMD, 0);

delay(1000);

Serial.println("前");

digitalWrite(pinAIN7, 0);

digitalWrite(pinAIN8, 1);

analogWrite(pinPWMD, speed);

delay(2000);

Serial.println("结束");

analogWrite(pinPWMD, 0);

delay(1000);

/*

*/

}[/mw_shl_code]