MSD_CONTROLER

Features

1. Working environment:

• DC Vol: 10-40V
• Continous Current: 20A

2. Control method:

• Pwm/Dir
• Analog (Protentionmeter)/Dir
• Uart Network
• Rc Signal.

3. Protecttion:

• Over Voltage, Under Voltage , Over Temperature.
• Short circuit, Over current.

4. Advanced feature:

• Current Limit as Switch Limit (don't accept go more to that Dir when the current touch to the Limit). Setting by hardware.
• Accept a Acceleration setting by hardware.
• Bidirectional power supply input (I am note sure, need to test with height load)

Related tutorials and Notice

+RC tutorial: https://www.youtube.com/watch?v=utTi0awlUzg

Firmware

1. Control motor by Arduino board:

Use "msd_pulse_module.ino" to control motor. This code used for controlling multiple motors with arduino board. The motor will run follow the signal of Pulse and Direct Pin.

• The Direct Pin indicate the rotation direction that rotating clockwise or counterclockwise.
• The motor will move a radian with per rising edge on Pulse pin.

Step 1:

• Define parameter of driver.
• MSD_NUMBER: Number of motor need control.
• MSD_PPR: Number pulse per revolution. Set the parameter same the value of the motor driver.

Step 2:

• Attach Direct and Pulse pin for per motor.
• Use MSD_AttachPin(char motorIndex, char dirPin, char pulsePin) function.
• Example:
  • Set up Motor index 0 with Direct pin is 2 and Pulse pin is 3 => MSD_AttachPin(0, 2, 3);

Step 3:

• Init configure for previously attached pín and Init timer interrupt.
• Use MSD_Init();

Step 4:

• Set the value that the motor will run.
• Use MSD_SetValue(double position, double velocity, double acer, char msdChanel) function:
  • position: The distance motor run (rad)
  • velocity: max speed motor run (rad/s)
  • acer: accelerate of motor (rad/s)
  • msdChanel: motor index.
• Example:
  • The motor rotate 100 revolution => 100*6.28319 = 628.319 rad => position = 628.319 (rad).
  • Max speed is 100 rad/s => velocity = 100 (rad/s).
  • Accelrate is 10 rad/s => acer = 10(rad/s)
  • Motor index is 0 => MSD_SetValue(628.319, 100, 10, 0);

Step 5:

• Run motor
• Use MSD_StartAll() function if you want to run all motor.
• Use MSD_StartAt(char index) function if you just want to run a motor. Note:
• Use MSD_StopAll() or MSD_StopAt(char index) if yot want stop motor when it 's running.