Difference between revisions of "2016 Electrical Motor Shield"
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Photo: | Photo: | ||
| − | == Description and Usage | + | == 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. | |
| − | == Connections | + | [https://github.com/RoboJackets/igvc-software/blob/master/sandbox/arduino/MotorShield/MotorShield.ino Current Arduino code]. |
| − | {| class=" | + | |
| + | == Connections == | ||
| + | {| class="wikitable" | ||
| | | | ||
| − | Header | + | '''Header''' |
| | | | ||
| − | Function | + | '''Function''' |
| | | | ||
| − | Signal | + | '''Signal Type ''' |
| − | Type | ||
|- | |- | ||
| Line 26: | Line 27: | ||
| | | | ||
| − | pwm/logic | + | pwm/logic output |
| − | output | ||
|- | |- | ||
| Line 37: | Line 37: | ||
| | | | ||
| − | pwm/logic | + | pwm/logic output |
| − | output | ||
|- | |- | ||
| Line 48: | Line 47: | ||
| | | | ||
| − | logical | + | logical input |
| − | input | ||
|- | |- | ||
| Line 59: | Line 57: | ||
| | | | ||
| − | logical | + | logical input |
| − | input | ||
|- | |- | ||
| Line 69: | Line 66: | ||
| | | | ||
| − | See | + | See next table |
| − | next table | ||
|} | |} | ||
Arduino Header Connections to motor shield | Arduino Header Connections to motor shield | ||
| − | {| class=" | + | {| class="wikitable" |
| | | | ||
| − | Pin | + | '''Pin''' |
| | | | ||
| − | Function | + | '''Function''' |
| | | | ||
| − | Signal | + | '''Signal''' |
|- | |- | ||
| Line 90: | Line 86: | ||
| | | | ||
| − | power | + | power output |
| − | output | ||
| | | | ||
| − | VCC | + | VCC (5V) |
| − | (5V) | ||
|- | |- | ||
| Line 112: | Line 106: | ||
| | | | ||
| − | Left | + | Left Encoder A |
| − | Encoder A | ||
| | | | ||
| − | logic | + | logic input |
| − | input | ||
|- | |- | ||
| Line 124: | Line 116: | ||
| | | | ||
| − | Right | + | Right Encoder A |
| − | Encoder A | ||
| | | | ||
| − | logic | + | logic input |
| − | input | ||
|- | |- | ||
| Line 136: | Line 126: | ||
| | | | ||
| − | Left | + | Left Encoder B |
| − | Encoder B | ||
| | | | ||
| − | logic | + | logic input |
| − | input | ||
|- | |- | ||
| Line 148: | Line 136: | ||
| | | | ||
| − | Right | + | Right Encoder B |
| − | Encoder B | ||
| − | | | + | |logic input |
| − | logic | ||
| − | input | ||
|- | |- | ||
| Line 160: | Line 145: | ||
| | | | ||
| − | Left | + | Left Speed |
| − | Speed | ||
| − | | | + | |PWM output |
| − | PWM | ||
| − | output | ||
|- | |- | ||
| Line 172: | Line 154: | ||
| | | | ||
| − | Left | + | Left Direction |
| − | Direction | ||
| | | | ||
| − | logic | + | logic output |
| − | output | ||
|- | |- | ||
| Line 184: | Line 164: | ||
| | | | ||
| − | Left | + | Left Disable ISO |
| − | Disable ISO | ||
| − | | | + | |logic output |
| − | logic | ||
| − | output | ||
|- | |- | ||
| Line 196: | Line 173: | ||
| | | | ||
| − | Right | + | Right Speed |
| − | Speed | ||
| | | | ||
| − | PWM | + | PWM output |
| − | output | ||
|- | |- | ||
| Line 208: | Line 183: | ||
| | | | ||
| − | Right | + | Right Direction |
| − | Direction | ||
| | | | ||
| − | logic | + | logic output |
| − | output | ||
|- | |- | ||
| Line 220: | Line 193: | ||
| | | | ||
| − | Right | + | Right Disable ISO |
| − | Disable ISO | ||
| | | | ||
| − | logic | + | logic output |
| − | output | ||
|- | |- | ||
| Line 232: | Line 203: | ||
| | | | ||
| − | Serial | + | Serial monitor and input |
| − | monitor and input | ||
| | | | ||
| − | USB | + | USB input from NUC |
| − | input from NUC | ||
|} | |} | ||
== Schematic == | == Schematic == | ||
| + | [[File:Motorshield16 1.PNG|left|thumb|576x576px|Motor Shield Schematic (Download from GitHub[https://github.com/RoboJackets/igvc-electrical/tree/master/Motor_Shield] for best resolution)]] | ||
| − | == Notes | + | == Notes == |
Test bench: Work in progress. | Test bench: Work in progress. | ||
| + | |||
| + | == Other Components == | ||
| + | * [[2016 Electrical Flow Chart|Flow Chart]] | ||
| + | * [[2016 Electrical OSMC|OSMC]] | ||
| + | * [[2016 Electrical Motor|Motor]] | ||
| + | * [[2016 Electrical Motor Fuses|Motor Fuses]] | ||
| + | * [[2016 Electrical Encoder|Encoder]] | ||
| + | * [[2016 Electrical E-Stop|E-Stop]] | ||
| + | * [[2016 Electrical Light Shield|Light Shield]] | ||
| + | |||
| + | [[Category:IGVC]][[Category:2016-2017]] | ||
Latest revision as of 21:57, 13 June 2018
Contents
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.
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
Notes
Test bench: Work in progress.
