1. 控制指令表如下

控制模块原理图请参见上篇文章

2. MicroPyhton控制程序如下：

import time
import machine
IOR1=machine.Pin(33,machine.Pin.OUT) 
IOR1.value(1)
ser = machine.UART(2,115200)
time.sleep(0.01)

def MX_motorControl(MX_motorControl_port,MX_motorControl_function,MX_motorControl_content1,MX_motorControl_content2):
  #########处理负值##############
  if(MX_motorControl_content1<0):#负值要取反加一
    MX_motorControl_content1=(~(-MX_motorControl_content1)&0xFF)+1
  #########开始发送操作##########  
  MX_motorControl_port.value(0)#//通讯标志位置低，通知开始发送
  serial_data=bytes([165,MX_motorControl_function,MX_motorControl_content1,(MX_motorControl_content2 >> 24)&0xFF,\
(MX_motorControl_content2 >> 16)&0xFF,(MX_motorControl_content2 >> 8)&0xFF,MX_motorControl_content2&0xFF,\
MX_motorControl_function^MX_motorControl_content1^(MX_motorControl_content2 >> 24)&0xFF^(MX_motorControl_content2 >> 16)&0xFF^(MX_motorControl_content2 >> 8)&0xFF^MX_motorControl_content2&0xFF])
  ser.write(serial_data)### 发送数据准备:起始位0xa5,功能位，内容位1，内容位2（4部分）,校验位###
  time.sleep(0.001)#等待1ms
  MX_motorControl_port.value(1)#通讯标志位置高，通知结束发送


while True:
  MX_motorControl(IOR1,10,10,0)
  time.sleep(1)
  MX_motorControl(IOR1,10,-10,0)
  time.sleep(1)