2016 Electrical Motor Shield

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.

Other Components

• Flow Chart
• OSMC
• Motor
• Motor Fuses
• Encoder
• E-Stop
• Light Shield