cameronbrooks11 / dcmotorservo

An Arduino Library for controlling DC motors with rotary encoders.

DCMotorServo

An Arduino Library for controlling DC motors with rotary encoders. This library is an updated version and continuation of julester23 / DCMotorServo uses PID and Encoder feedback, inspired by the adafruit / AccelStepper library.

• Encoder Library, for measuring quadrature encoded signals from the Arduino library manager and also on pjrc.com/teensy/td_libs_Encoder.html
• PID Library, for using encoder feedback to control the motor from the Arduino library manager and also on github.com/br3ttb/Arduino-PID-Library

Circuit

I used a 754410 quad half-H controller (a pin-compatible L293D). I'm sure it would be cheaper to make out of other components, but I've never done transistor matching, and I'm afraid of burning things.

Example circuit connections

L293D or 754410 pins	Device
1, 9	arduino	pin_pwm_output
2, 15	arduino	pin_dir
7, 10	arduino	pin_dir
4, 5, 12, 13	power	GND
16	power	5V
8	power	12V
3, 14	motor	motor pin 1
6, 11	motor	motor pin 2

Hardware

• Example 1: Move_1inch
  • Metal Gearmotor 37Dx57L mm with 64 CPR Encoder from Pololu
  • Arduino
  • MC33926 Motor Driver Carrier from Pololu
• Example 2: XXX
  • 20D Planetary Gearmotor w/ Encoder - 12V 515RPM by E-S Motor via RobotShop
  • Arduino Nano
  • 298N Motor Drive Controller Board Module

Pins

Pinout for motor control uses 3 pins for output. It is somewhat wasteful, but had more flexibility. Two pins for direction control, and one for motor power (assuming PWM). Be sure to pick a PWM capable pin for pin_pwm_output.

The two input pins are for the encoder feedback.

Two directional pins allow for setting a motor brake by shorting the terminals of the motor together (set both directions HIGH, and preferably turn off the PWM)

TODO

• implement brake feature for 3-pin mode
• 2-pin constructor
• implement friendlier tuning method for PID

dcmotorservo's Issues

Extrema Point Sensing

Add the option to specify physical extrema (end stops) using: A) physical indication (e.g. hall effect), B) electrical indication (i.e. stall current sensing), C) software indication (i.e. encoder tracking).