4 Channel Motor Control Unit
Contents
1. 4 Channel Motor Control Unit Designed originally for the Rover 5 chassis this driver PCB is ideal for any small robot using either Omni or Mecanum wheels Current sensing for each motor allows the processor to determine if a motor has stalled or is under excessive load Motor 3 Motor 4 Output Output Ch4 current Ch4 direction Ch4 PWM Gnd Ch3 current Ch3 direction f Ch3 PWM Gnd Ch2 current if Ch2 direction W Ch2 PWM TE Gnd i GED na e ag Ch1 current cur R af Ch1 direction jf Ch1 PWM Gnd Features include e 4x low resistance FET H bridges e Each channel rated for 4A stall current e Easy to use control logic e Current monitoring for each channel e Quadrature encoder mixing circuitry 5V input Gnd Gnd Encoder output A Encoder output B Interrupt output Gnd Encoder output A Encoder output B Interrupt output Gnd Encoder output A Encoder output B Interrupt output Gnd Encoder output A Encoder output B Interrupt output Gnd Encoder input A Encoder input B 5V Gnd Encoder input A Encoder input B vay Gnd Encoder input A Encoder input B 5V Gnd Encoder input A Encoder input B t5y Motor Suppy 4 5V 12V Gnd Power connectors The PCB has two power connectors One is 5V for logic Vcc and one for the motor power supply The motor power supply should not be connected without first connecting the 5V for logic This device is rated for a maximum m2. otor supply voltage of 12V Exceeding this voltage may permanently damage the device The encoder mixing circuit Unlike most motor controllers this PCB includes 4 mixing circuits for use with up to 4 quadrature encoders The mixing circuit takes the 2 inputs from a quadrature encoder and mixes them into a single output Note that the interrupt output changes state when either input changes 5V o 2 Encoder 100K S S 100K Input A Encoder Input A CD4030B x Interrupt XOR y Output Encoder 5 ji j Encoder Input B Ta Input B Encoder Output A Encoder Interrupt Output B Output Gnd a Gnd This allows a single interrupt pin to monitor both inputs of a quadrature encoder Because the interrupt output is twice the frequency of either input it also allows speed and distance to be measured with twice the resolution Current output Each channel has a current sensing circuit The output of this circuit is approximately 1V for each amp the motor draws 5V maximum This output can be connected directly to the analog input of any 5V micro controller Control logic The built in control logic allows each motor to be controlled by 2 pins Driving the direction pin high or low will cause the motor to run forward or reverse The PWM pin is used to control the motor speed When this pin is low the motor is off When this pin is high the motor is at full power To vary the speed of the motor this
3. pin must be Pulse Width Modulated Motor output Each channel has a motor output socket Connect any 4 5V 12V DC motor with a stall current of less than 4 5A to these pins Exceeding 4 5A on these pins may permanently damage this device
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