Dual H-Bridge Motor Driver

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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. </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" > </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. 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" > </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	</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"> * 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"> </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  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	</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"> </td>
189	<td bordercolor="#FFFFFF">
190	<p align="center"><font face="Verdana" size="2">Table 3-1</font></p></td>
191	<td bordercolor="#FFFFFF"> </td>
192	</tr>
193	</tbody></table>
194	</center>
195	</div>
196
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"> </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"> </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. </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"> </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"> </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> </p></td>
343	</tr>
344	</tbody></table>
345	<br></body>
346	{{/html}}