2016 Electrical Motor Shield

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Motor Shield

Photo:

Description and Usage

The motor shield utilizes Arduino-based PID control of motors via comparison of actual (from encoders) and desired (from USB) wheel velocities.

Current Arduino code.

Connections

Header

Function

Signal Type

R-OSMC

Control motor speed and direction

pwm/logic output

L-OSMC

Control motor speed and direction

pwm/logic output

L-Encoder

Read data from encoder

logical input

R-Encoder

Read data from encoder

logical input

Arduino

See next table

Arduino Header Connections to motor shield

Pin

Function

Signal

5V

power output

VCC (5V)

GND

Ground

GND

D2

Left Encoder A

logic input

D3

Right Encoder A

logic input

D4

Left Encoder B

logic input

D5

Right Encoder B

logic input

D6

Left Speed

PWM output

D7

Left Direction

logic output

D8

Left Disable ISO

logic output

D9

Right Speed

PWM output

D10

Right Direction

logic output

D11

Right Disable ISO

logic output

USB

Serial monitor and input

USB input from NUC

Schematic

Motor Shield Schematic (Download from GitHub[1] for best resolution)

Notes

Test bench: Work in progress.

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