Tutorials/Arduino Projects/RC car Hacking Project/Controlling the motors - Revision history

Dwest: /* Testing */

2012-07-11T21:02:41Z

Testing

Dwest: /* Wiring */

2012-07-11T14:14:33Z

Wiring

Dwest at 20:37, 10 July 2012

2012-07-10T20:37:57Z

Dwest: /* Interfacing the Arduino */

2012-07-10T20:36:09Z

Interfacing the Arduino

Dwest: /* Wiring */

2012-07-10T20:35:49Z

Wiring

Dwest at 20:35, 10 July 2012

2012-07-10T20:35:19Z

Pgp90 at 20:40, 5 July 2012

2012-07-05T20:40:08Z

Dwest: /* Testing */

2012-07-05T12:13:14Z

Testing

Dwest at 21:15, 3 July 2012

2012-07-03T21:15:51Z

Dwest: Created page with "Arduino_Projects|Arduino Tutorials and Guided Projects ==Interfacing the Arduino== The first thing we need to do before we can connect t..."

2012-07-03T20:56:26Z

Created page with "<yambe:breadcrumb>Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb> ==Interfacing the Arduino== The first thing we need to do before we can connect t..."

New page

<yambe:breadcrumb>Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>

==Interfacing the Arduino==

The first thing we need to do before we can connect the motors is power the Arduino. To power the Arduino from the RC car power supply using the wires we soldered earlier, we will use the Arduino's 'Vin' pin which allows it to be powered from an external source without using the power plug.

Set the circuit up like the diagram below. We use the breadboard as we will need the raw battery power supply later to power the motors.

[[image:Interceptor_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the AAA battery holder as a stand-in for the vehicle's battery pack.]]

Turn the car on and you should see the Arduino power up.

==Connecting the motors==

DC motors cannot be directly controlled by the Arduino - we will need an external motor controller to allow speed regulation as well as forwards/backwards control. These controllers all use the same fundamental concept - the H-bridge. This will use the PWM signal and convert it into useful DC motor commands.

Thankfully, VEX robotics has recently released the [http://www.vexrobotics.com/products/accessories/motion/276-2193.html Motor Controller 29] - a nifty, compact motor controller to use with their new line of 2-wire motors. Fortunately for us, this is a controller that will work perfectly with our DC motors.

Another option for a motor controller is an Arduino Shield such as the [http://www.sparkfun.com/products/9896 Ardumoto] from Sparkfun. This acts as a shield for the Arduino which lets you control up to 2 DC motors - perfect for our purposes.

@@ Line 59: / Line 59: @@
 #pragma config(CircuitBoardType, typeCktBoardUNO)
 #pragma config(UART_Usage, UART0, uartSystemCommPort, baudRate200000, IOPins, dgtl1, dgtl0)
-#pragma config(Motor,  motor_5,         driveMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl5, None)
+#pragma config(Motor,  servo_9,         driveMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl9, None)
-#pragma config(Motor,  motor_6,         steerMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl6, None)
+#pragma config(Motor,  servo_10,        steerMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl10, None)
 //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
@@ Line 70: / Line 70: @@
      motor[driveMotor] = 100;
      wait1Msec(2000);
      motor[steerMotor] = -127;
      motor[driveMotor] = -100;
      wait1Msec(2000);
+   }
+}

@@ Line 36: / Line 36: @@
 {| align="center"
 |-
-| [[image:Interceptor_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]] ||
+| [[image:Interceptor_Motor_Wiring_Schematic.png|thumb|c|center|400px|Interceptor Wiring schematic.]] ||
-[[image:Gymkhana_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]]
+[[image:Gymkhana_Motor_Wiring_Schematic.png|thumb|c|center|400px|Gymkhana Wiring schematic.]]
 |}
 {| align="center"
 |-
-| [[image:Interceptor_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]] ||
+| [[image:Interceptor_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Interceptor Virtual breadboard diagram.]] ||
-[[image:Gymkhana_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]]
+[[image:Gymkhana_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Gymkhana Virtual breadboard diagram.]]
 |}

@@ Line 9: / Line 9: @@
 {| align="center"
 |-
-[[image:Interceptor_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the AAA battery holder as a stand-in for the vehicle's battery pack.]]||
+| [[image:Interceptor_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the AAA battery holder as a stand-in for the vehicle's battery pack.]]||
 [[image:Gymkhana_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the 9V battery holder as a stand-in for the vehicle's batteries.]]
 |}
@@ Line 37: / Line 36: @@
 {| align="center"
 |-
-[[image:Interceptor_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]] ||
+| [[image:Interceptor_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]] ||
 [[image:Gymkhana_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]]
 |}
 {| align="center"
 |-
-[[image:Interceptor_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]] ||
+| [[image:Interceptor_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]] ||
 [[image:Gymkhana_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]]
 |}

@@ Line 11: / Line 11: @@
 [[image:Interceptor_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the AAA battery holder as a stand-in for the vehicle's battery pack.]]||
 [[image:Gymkhana_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the 9V battery holder as a stand-in for the vehicle's batteries.]]
 |}

@@ Line 37: / Line 37: @@
 |-
 [[image:Interceptor_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]] ||
 [[image:Gymkhana_Motor_Wiring_Schematic.png|thumb|c|center|400px|Wiring schematic.]]
 |}
@@ Line 44: / Line 45: @@
 [[image:Interceptor_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]] ||
 [[image:Gymkhana_Motor_Wiring_Virtual_Breadboard.png|thumb|c|center|400px|Virtual breadboard diagram.]]
 |}
 ==Testing==

@@ Line 7: / Line 7: @@
 Set the circuit up like the diagram below. We use the breadboard as we will need the raw battery power supply later to power the motors.
-[[image:Interceptor_Arduino_Power_Diagram.png|thumb|c|center|400px|Treat the AAA battery holder as a stand-in for the vehicle's battery pack.]]
+{| align="center"
 Turn the car on and you should see the Arduino power up.
@@ Line 27: / Line 31: @@
 ===Wiring===
-The wiring is pretty simple, nothing fancy. The signal cables should go to digital ports '''5''' and '''6'''. Port '''5''' should be the '''Drive motor''' and port '''6''' should be the '''Steering motor'''. Keep in mind, we are powering the motor controllers straight from the battery and not from the Arduino 5V - the motors draw too much current otherwise.
+The wiring is pretty simple, nothing fancy. The signal cables should go to digital ports '''9''' and '''10'''. Port '''9''' should be the '''Drive motor''' and port '''10''' should be the '''Steering motor'''. Keep in mind, we are powering the motor controllers straight from the battery and not from the Arduino 5V - the motors draw too much current otherwise.
 ==Testing==
 To test the motors, we are going to write a simple program for the Arduino. First, configure the motors as Continuous Rotation Servos driveMotor (motor_5) and steerMotor(motor_6). While the motors are not actually servos, the Arduino needs to think they are for the motor controllers to work properly.

@@ Line 1: / Line 1: @@
 <yambe:breadcrumb>Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>
+{{Tut-video|yXWMY7HO4IE|Demo of Arduino controlled Interceptor}}
 ==Interfacing the Arduino==

← Older revision		Revision as of 12:13, 5 July 2012
Line 63:		Line 63:
	\|}		\|}

−	Run this out in an open area ~~for a high level of amusement~~.	+	Run this out in an open area and watch the car control itself.

@@ Line 12: / Line 12: @@
 ==Connecting the motors==
 DC motors cannot be directly controlled by the Arduino - we will need an external motor controller to allow speed regulation as well as forwards/backwards control. These controllers all use the same fundamental concept - the H-bridge. This will use the PWM signal and convert it into useful DC motor commands.
 Thankfully, VEX robotics has recently released the [http://www.vexrobotics.com/products/accessories/motion/276-2193.html Motor Controller 29] - a nifty, compact motor controller to use with their new line of 2-wire motors. Fortunately for us, this is a controller that will work perfectly with our DC motors.
 Another option for a motor controller is an Arduino Shield such as the [http://www.sparkfun.com/products/9896 Ardumoto] from Sparkfun. This acts as a shield for the Arduino which lets you control up to 2 DC motors - perfect for our purposes.