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1 -Dual H-Bridge Motor Driver
1 +Dual H Bridge Motor Driver
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1 1  {{html wiki="false" clean="true"}}
2 -<body><table border="0" cellpadding="0" cellspacing="0" >
3 - <tbody><tr>
4 - <td valign="top" ><font size="2" face="verdana"><strong>Dual
5 - H Bridge Motor Driver.</strong></font><p><font size="2" face="verdana"><strong>01.22.04</strong></font></p>
6 - <p><font size="2" face="verdana">This is a step-by-step procedure of
7 - connecting a Lynxmotion Dual H-Bridge motor driver to the OOPic-R
8 - microcontroller. These two products were designed at about the same
9 - time, but a misunderstanding of the actual pinout for the connector
10 - resulted in a mismatch. However it's not a difficult fix. Follow the
11 - instructions below to get your project up and running quickly.&nbsp;</font></p>
12 - </td>
13 - <td align="center" valign="bottom" width="320"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/dual-h-bridge-motor-driver/WebHome/dhbmd01.jpg" border="2" hspace="10" ><br>
14 - <font size="2" face="verdana"><strong>Finished Project</strong></font></td>
15 - </tr>
16 - <tr>
17 - <td colspan="2" >&nbsp;</td>
18 - </tr>
19 - <tr>
20 - <td valign="top" ><font size="2" face="verdana"><b>Step 1.</b> Plug
21 - in the +5vdc / GND connector (red and black wires) as shown.&nbsp;If
22 - you are already using the serial LCD port, then any I/O bus connector
23 - with +5vdc available can be used. Take care not to install this
24 - backwards.</font></td>
25 - <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/dual-h-bridge-motor-driver/WebHome/dhbmd05.jpg" border="2" hspace="10" ><br>
26 - <font size="2" face="verdana">Figure 1-1.</font></td>
27 - </tr>
28 - <tr>
29 - <td colspan="2" >&nbsp;</td>
30 - </tr>
31 - <tr>
32 - <td valign="top" ><font size="2" face="verdana"><b>Step
33 - 2.</b> You need to rearrange some of the wires, and to do so you must unplug
34 - them from the black housings. Use a hobby knife and gently slide
35 - it under the tab holding the wire in. Lift the tab and slide the wire
36 - out. Don't bend it too far as damage could result. You will need to remove the following wires:<br>
37 - &nbsp;</font>
38 - <div align="center">
39 - <center>
40 - <table border="1" bordercolor="#FFFFFF">
41 - <tbody><tr>
42 - <td bordercolor="#FFFFFF" colspan="2" align="center"><font size="2" face="Verdana">4-wire
43 - housing</font></td>
44 - </tr>
45 - <tr>
46 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Wire
47 - Color</font></td>
48 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">From
49 - DHB</font></td>
50 - </tr>
51 - <tr>
52 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">Brown</font></td>
53 - <td bordercolor="#C0C0C0"><font size="2" face="verdana"> (A (-) in)</font></td>
54 - </tr>
55 - <tr>
56 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">
57 - Dark Blue</font></td>
58 - <td bordercolor="#C0C0C0"><font size="2" face="verdana"> (B (+) in)</font></td>
59 - </tr>
60 - <tr>
61 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">
62 - Pink</font></td>
63 - <td bordercolor="#C0C0C0"><font size="2" face="verdana"> (B (-) in)</font></td>
64 - </tr>
65 - <tr>
66 - <td bordercolor="#FFFFFF" colspan="2" align="center"><font size="2" face="Verdana">2-wire
67 - housing</font></td>
68 - </tr>
69 - <tr>
70 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Wire
71 - Color</font></td>
72 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">From
73 - DHB</font></td>
74 - </tr>
75 - <tr>
76 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">
77 - Yellow</font></td>
78 - <td bordercolor="#C0C0C0"><font size="2" face="verdana"> (A enable)</font></td>
79 - </tr>
80 - <tr>
81 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">Light
82 - Blue *</font></td>
83 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">(B
84 - enable)</font></td>
85 - </tr>
86 - <tr>
87 - <td bordercolor="#FFFFFF" colspan="2" align="center"><font size="2" face="Verdana">Table
88 - 2-1</font></td>
89 - </tr>
90 - </tbody></table>
91 - </center>
92 - </div>
93 - <p><font size="2" face="verdana">&nbsp;* The Light Blue (B
94 - enable) wire can optionally be removed and repositioned so that the 2-wire connector will be facing the same way
95 - as the 4-wire connector. It's purely an aesthetic choice.</font></p>
96 - </td>
97 - <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/dual-h-bridge-motor-driver/WebHome/dhbmd02.jpg" border="2" hspace="10" ><br>
98 - <font size="2" face="verdana">Figure 2-1.</font></td>
99 - </tr>
100 - <tr>
101 - <td colspan="2">&nbsp;</td>
102 - </tr>
103 - <tr>
104 - <td valign="top" ><font size="2" face="verdana"><b>Step
105 - 3.</b> Now you need to insert the wires into the black housings&nbsp; in a
106 - different order. Look at the "Dual DC Motor I/O" section on
107 - the OOPic-R board, and match the numbers by the pins to the correct
108 - wire from the Dual H-Bridge board. Then simply slide the wires back into
109 - the correct slot of the housing. If you make a mistake, just follow
110 - Step 2 to get the wire out again.<br>
111 - &nbsp;</font>
112 - <div align="center">
113 - <center>
114 - <table border="1" bordercolor="#FFFFFF">
115 - <tbody><tr>
116 - <td colspan="3" bordercolor="#FFFFFF">
117 - <p align="center"><font face="Verdana" size="2">4-wire housing</font></p></td>
118 - </tr>
119 - <tr>
120 - <td bordercolor="#808080" bgcolor="#C0C0C0">
121 - <p align="center"><font face="Verdana" size="2">OOPic-R
122 - Pin Number</font></p>
123 - </td>
124 - <td bordercolor="#808080" bgcolor="#C0C0C0">
125 - <p align="center"><font face="Verdana" size="2">Wire Color</font></p></td>
126 - <td bordercolor="#808080" bgcolor="#C0C0C0">
127 - <p align="center"><font face="Verdana" size="2">From
128 - DHB</font></p>
129 - </td>
130 - </tr>
131 - <tr>
132 - <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">24</font></td>
133 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">Purple</font></td>
134 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">(A
135 - (+) in)</font></td>
136 - </tr>
137 - <tr>
138 - <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">17</font></td>
139 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">Yellow</font></td>
140 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">(A
141 - enable)</font></td>
142 - </tr>
143 - <tr>
144 - <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">25</font></td>
145 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">Brown</font></td>
146 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">(A
147 - (-) in)</font></td>
148 - </tr>
149 - <tr>
150 - <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">26</font></td>
151 - <td bordercolor="#C0C0C0"><font size="2" face="Verdana">Dark
152 - Blue</font></td>
153 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">(B
154 - (+) in)</font></td>
155 - </tr>
156 - <tr>
157 - <td colspan="3" bordercolor="#FFFFFF">
158 - <p align="center"><font face="Verdana" size="2">2-wire housing</font></p></td>
159 - </tr>
160 - <tr>
161 - <td bordercolor="#808080" bgcolor="#C0C0C0">
162 - <p align="center"><font face="Verdana" size="2">OOPic-R
163 - Pin Number</font></p>
164 - </td>
165 - <td bordercolor="#808080" bgcolor="#C0C0C0">
166 - <p align="center"><font face="Verdana" size="2">Wire
167 - Color</font></p>
168 - </td>
169 - <td bordercolor="#808080" bgcolor="#C0C0C0">
170 - <p align="center"><font face="Verdana" size="2">From
171 - DHB</font></p>
172 - </td>
173 - </tr>
174 - <tr>
175 - <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">18</font></td>
176 - <td bordercolor="#C0C0C0"><font face="Verdana" size="2">Light
177 - Blue</font></td>
178 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">(B
179 - enable)</font></td>
180 - </tr>
181 - <tr>
182 - <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">27</font></td>
183 - <td bordercolor="#C0C0C0"><font face="Verdana" size="2">Pink</font></td>
184 - <td bordercolor="#C0C0C0"><font size="2" face="verdana">(B
185 - (-) in)</font></td>
186 - </tr>
187 - <tr>
188 - <td bordercolor="#FFFFFF" align="center">&nbsp;</td>
189 - <td bordercolor="#FFFFFF">
190 - <p align="center"><font face="Verdana" size="2">Table 3-1</font></p></td>
191 - <td bordercolor="#FFFFFF">&nbsp;</td>
192 - </tr>
193 - </tbody></table>
194 - </center>
195 - </div>
196 - &nbsp;
197 - </td>
198 - <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/dual-h-bridge-motor-driver/WebHome/dhbmd03.jpg" border="2" hspace="10" ><br>
199 - <font size="2" face="verdana">Figure 3-1.<br>
200 - <br>
201 - </font></td>
202 - </tr>
203 - <tr>
204 - <td colspan="2">&nbsp;</td>
205 - </tr>
206 - <tr>
207 - <td valign="top" ><font size="2" face="verdana"><b>Step
208 - 4.</b> Your wires should look like the picture when you are done. If they
209 - are in the wrong order, then refer to Table 3-1 for the wire order.</font></td>
210 - <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/dual-h-bridge-motor-driver/WebHome/dhbmd04.jpg" border="2" hspace="10" ><br>
211 - <font size="2" face="verdana">Figure 4-1.</font></td>
212 - </tr>
213 - <tr>
214 - <td valign="top" colspan="2">&nbsp;</td>
215 - </tr>
216 - <tr>
217 - <td valign="top" ><font size="2" face="verdana"><b>Step 5.</b> On
218 - the Dual H-Bridge, attach wires from the battery and the motors as the
219 - diagram shows. Take care to observe polarity to prevent
220 - problems.&nbsp;</font></td>
221 - <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/dual-h-bridge-motor-driver/WebHome/dhbmd08.jpg" border="2" hspace="10" ><br>
222 - <font size="2" face="verdana">Figure 5-1.</font></td>
223 - </tr>
224 - <tr>
225 - <td valign="top" colspan="2">&nbsp;</td>
226 - </tr>
227 - <tr>
228 - <td valign="top" colspan="2">
229 - <p align="left"><font size="2" face="verdana"><b>Step 6.</b> This code will
230 - give you a good start on making your bot move around and be able to
231 - change direction with only two variables. By Jim
232 - Babcock</a>.</font></p></td>
233 - </tr>
234 - <tr>
235 - <td valign="top" colspan="2">&nbsp;</td>
236 - </tr>
237 - <tr>
238 - <td valign="top" colspan="2">
239 - <div align="center">
240 - <center>
241 - <table border="1" bordercolor="#000000">
242 - <tbody><tr>
243 - <td bordercolor="#FFFFFF"><font face="Courier New" size="2">' This
244 - small program is designed to give you the basics to move your bot around<br>
245 - ' and change direction with just 2 variables (speed and turn)<br>
246 - <br>
247 - ' Speed is a value between 127 and -128 with 0 being neutral Or
248 - Stop<br>
249 - ' When speed is set from 1 to 127 the bot will move forward and
250 - faster As the value goes up<br>
251 - ' When speed is set from -1 to -128 the bot will move backward
252 - and faster As the value goes down<br>
253 - <br>
254 - ' Turn is a value between 127 and -128 with 0 being no turn at all<br>
255 - ' When turn is set from 1 to 127 the bot will move to the left. As the value goes up the bot turns harder.<br>
256 - ' When turn is set from -1 to -127 the bot will move to the right. As the value goes down the bot turns harder.<br>
257 - <br>
258 - ' It should be noted that since the objects Navcom, LeftMotor,
259 - and RightMotor have been linked<br>
260 - ' by Virtual Circuit that the main() program doesn't have to be
261 - loop for the bot to keep moving since the VC is<br>
262 - ' constantly running in the background. By the way VCs run about 5
263 - times faster the the other code.<br>
264 - <br>
265 - Dim RightMotor As New oDCMotor2 ' Right motor bank<br>
266 - Dim LeftMotor As New oDCMotor2 ' Left motor bank<br>
267 - Dim Turn As New oWord ' One number used to turn both left
268 - and right using the object Navcon through VC<br>
269 - Dim Speed As New oWord ' One number used to
270 - command both forward and reverse using the object Navcon through VC<br>
271 - Dim Nav As New oNavCon ' Object used to command your bot around using one speed value
272 - and one turn value<br>
273 - Sub main()<br>
274 - <br>
275 - Call motorsetup ' Sub program to set your
276 - motors up to run. (Only used once)<br>
277 - <br>
278 - Speed.signed = 1 ' Sets up the value property
279 - to use positive and negative numbers 127 to -128<br>
280 - turn.signed = 1 ' Sets up the value property
281 - to use positive and negative numbers 127 to -128<br>
282 - <br>
283 - Speed = 2 ' Change this variable to
284 - control speed and direction in this small program<br>
285 - Turn = 0 ' Change this variable to
286 - control left Or right turning in this small program<br>
287 - <br>
288 - Nav.Input1.Link(Speed) ' Links the speed variable to the Navcon object<br>
289 - Nav.Input2.Link(Turn) ' Links the turn variable to the Navcon object<br>
290 - Nav.Output1.Link(LeftMotor) ' Links the first output of Navcon
291 - to LeftMotor value using VC<br>
292 - Nav.Output2.LInk(RightMotor) ' Links the second output of Navcon
293 - to RightMotor value using VC<br>
294 - Nav.Limit = cvTrue ' Limits the left and right motor values from 127
295 - to -128<br>
296 - Nav.Operate = 1 ' Used to make this object active in the list
297 - loop<br>
298 - <br>
299 - End Sub<br>
300 - </font><font face="Courier New" size="2"><br>
301 - '**************************************************************************<br>
302 - '<br>
303 - '**************************************************************************</font><font face="Courier New" size="2"><br>
304 - <br>
305 - Sub motorsetup ()<br>
306 - <br>
307 - LeftMotor.IOLineP = 17 'Enable line of motor control PWM is used IOLINE P<br>
308 - leftMotor.InvertoutD=cvTrue 'Changes direction moves when
309 - commanded forward<br>
310 - leftMotor.prescale=2 'Used to step down the
311 - frequ. of PWM<br>
312 - leftMotor.period=255 'Used to set resalution of PWM (# of steps
313 - for value)<br>
314 - LeftMotor.IOLine1 = 24 'First control line for an L293 H-Bridge IOLINE 1<br>
315 - LeftMotor.IOLine2 = 25 'Second control line for an L293 H-Bridge IOLINE 2<br>
316 - LeftMotor.Operate = 1 'Used to make this object active in the list looop<br>
317 - LeftMotor.Brake = cvOff 'Makes sure brake is set to
318 - off<br>
319 - LeftMotor.value = cvOff 'Makes sure motor value set
320 - to 0<br>
321 - <br>
322 - RightMotor.IOLineP = 18 'Enable line of motor control PWM is used IOLINE P<br>
323 - RightMotor.InvertoutD=cvTrue 'Changes direction moves when
324 - commanded forward<br>
325 - RightMotor.prescale=2 'Used to step down the
326 - frequ. of PWM<br>
327 - RightMotor.period=255 'Used to set resalution of PWM (# of steps
328 - for value)<br>
329 - RightMotor.IOLine1 = 26 'First control line for an L293 H-Bridge IOLINE 1<br>
330 - RightMotor.IOLine2 = 27 'Second control line for an L293 H-Bridge IOLINE 2<br>
331 - RightMotor.Operate = 1 'Used to make this object active<br>
332 - RightMotor.Brake = cvOff 'Makes sure brake is set to
333 - off<br>
334 - RightMotor.value = cvOff 'Makes sure motor value set
335 - to 0<br>
336 - <br>
337 - End Sub</font></td>
338 - </tr>
339 - </tbody></table>
340 - </center>
341 - </div>
342 - <p>&nbsp;</p></td>
343 - </tr>
344 -</tbody></table>
345 -<br></body>
2 +
346 346  {{/html}}
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