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我有一个带有 TB6612FNG 和 Atmega328P 的定制板，带有 arduino uno 引导加载程序。当我对其进行编程时，电机控制器可以很好地与 PWM 控制配合使用。但是，当我将电源从 USB 电源切换到电池电源时，电机不再工作，它有点抖动并且没有电机运动。但是，如果我将速度更新为 255 或 -255，它将全速运行。

综上所述，无论 USB 电源或电池电源如何，电机控制器都能在全速下正常工作。但是，如果我将速度降低到除 255 或 -255 之外的任何值，它就无法使用电池电源，而只能使用 USB 电源。当我同时连接电池和 USB 电源时，即使这样，它也无法在较低的速度下工作。

电池 (VM) 连接到为电路板和电机控制器供电的稳压器 (1117 - 5V - VCC) 和直接电源 - VM 连接到 TB6612FNG VM 引脚。这是否与电池电源如何为芯片和电机控制器供电有关，或者哪个先到达，VM 或 VCC，或类似的东西？

请找到下面的代码以及定制板的示意图。任何帮助表示赞赏。

    #define PWMA 5
    #define AIN1 10
    #define AIN2 4
    #define BIN1 7
    #define BIN2 8
    #define PWMB 6
    #define motor_A 0
    #define motor_B 1
    #define FORWARD 1
    #define REVERSE 0
    #define RIGHT 1
    #define LEFT 0

    void setup()
    {
      pinMode(PWMA, OUTPUT);
      pinMode(AIN1, OUTPUT);
      pinMode(AIN2, OUTPUT);
      pinMode(PWMB, OUTPUT);
      pinMode(BIN1, OUTPUT);
      pinMode(BIN2, OUTPUT);
      delay(5000);
    }

    void loop()
    {
      motor_brake();
      delay(1000);
      motor_drive(FORWARD, 150);  // if this replaced with 255, it works on battery also, but at full speed
      delay(1000);
      motor_brake();             
      delay(1000);
      motor_drive(REVERSE, 150); // if this replaced with 255, it works on battery also, but at full speed
      delay(1000);
      motor_brake();             
      delay(1000);
      motor_turn(RIGHT, 150, 150); // if this replaced with 255, it works on battery also, but at full speed
      delay(1000);
      motor_brake();
      delay(1000);
    }

    void motor_brake()
    {
      digitalWrite(AIN1, 1);
      digitalWrite(AIN2, 1);
      digitalWrite(PWMA, LOW);
      digitalWrite(BIN1, 1);
      digitalWrite(BIN2, 1);
      digitalWrite(PWMB, LOW);
    }

    void motor_drive(char direction, unsigned char speed)
    {
      if (direction == FORWARD)
      {
        motor_control(motor_A, FORWARD, speed);
        motor_control(motor_B, FORWARD, speed);
      }
      else
      {
        motor_control(motor_A, REVERSE, speed);
        motor_control(motor_B, REVERSE, speed);
      }
    }

    void motor_turn(char direction, unsigned char speed_A, unsigned char speed_B )
    {
      if (direction == RIGHT)
      {
        motor_control(motor_A, REVERSE, speed_A);
        motor_control(motor_B, FORWARD, speed_B);
      }
      else
      {
        motor_control(motor_A, FORWARD, speed_A);
        motor_control(motor_B, REVERSE, speed_B);
      }
    }

    void motor_control(char motor, char direction, unsigned char speed)
    {
      if (motor == motor_A)
      {
        if (direction == FORWARD)
        {
          digitalWrite(AIN1, HIGH);
          digitalWrite(AIN2, LOW);
        }
        else
        {
          digitalWrite(AIN1, LOW);
          digitalWrite(AIN2, HIGH);
        }
        analogWrite(PWMA, speed);
      }
      else
      {
        if (direction == FORWARD)
        {
          digitalWrite(BIN1, LOW);
          digitalWrite(BIN2, HIGH);
        }
        else
        {
          digitalWrite(BIN1, HIGH);
          digitalWrite(BIN2, LOW);
        }
        analogWrite(PWMB, speed);
      }
    }

带有 TB6612FNG 的 Arduino

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