Monster Moto Shield: Difference between revisions

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[[Image:MonsterMotoShield+STNucleoF401.jpg|200px|right|thumb|Monster Moto Shield with ST Nucleo F401]]
[[Image:DrillDCMotor-for-Robot-9.jpg|200px|right|thumb|Monster Moto Shield driving hacked drill motors]]

==Features==
==Features==
* pair of [[VNH2SP30]] full-bridge motor drivers
* pair of [[VNH2SP30]] full-bridge motor drivers
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==Motors==
==Motors==
* [[Hack de Moteur perceuse/viseuse sans fil 12V (bon marché)|12V DC Drill motor]]
* [[Hack de Moteur perceuse/viseuse sans fil 12V (bon marché)|12V DC Drill motor]]
* [[Dagu Wild Thumper 6WD Chassis]]


==Program==
==Program==
* Arduino Sketch : [[Media:MonsterMotoShieldSketch.zip]]
<pre>
* [[Mbed]] program for [[STM32 Discovery & Nucleo|ST Nucleo F401]] : http://mbed.org/users/donsez/code/NucleoF401_MonsterMotoShield/
/* MonsterMoto Shield Example Sketch
* Android app for piloting : [http://www.instructables.com/id/Arduino-bot-Android-remote-control/step7/The-Android-App/ Arduino bot Android remote control]
date: 5/24/11
code by: Jim Lindblom
hardware by: Nate Bernstein
SparkFun Electronics
License: CC-SA 3.0, feel free to use this code however you'd like.
Please improve upon it! Let me know how you've made it better.
This is really simple example code to get you some basic
functionality with the MonsterMoto Shield. The MonsterMote uses
two VNH2SP30 high-current full-bridge motor drivers.
Use the motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)
function to get motors going in either CW, CCW, BRAKEVCC, or
BRAKEGND. Use motorOff(int motor) to turn a specific motor off.
The motor variable in each function should be either a 0 or a 1.
pwm in the motorGo function should be a value between 0 and 255.
*/
#define BRAKEVCC 0
#define CW 1
#define CCW 2
#define BRAKEGND 3
#define CS_THRESHOLD 100

/* VNH2SP30 pin definitions
xxx[0] controls '1' outputs
xxx[1] controls '2' outputs */
int inApin[2] = {7, 4}; // INA: Clockwise input
int inBpin[2] = {8, 9}; // INB: Counter-clockwise input
int pwmpin[2] = {5, 6}; // PWM input
int cspin[2] = {2, 3}; // CS: Current sense ANALOG input
int enpin[2] = {0, 1}; // EN: Status of switches output (Analog pin)

int statpin = 13;

void setup()
{
Serial.begin(9600);
pinMode(statpin, OUTPUT);

// Initialize digital pins as outputs
for (int i=0; i<2; i++)
{
pinMode(inApin[i], OUTPUT);
pinMode(inBpin[i], OUTPUT);
pinMode(pwmpin[i], OUTPUT);
}
// Initialize braked
for (int i=0; i<2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
// motorGo(0, CW, 1023);
// motorGo(1, CCW, 1023);
}

void loop()
{
motorGo(0, CW, 1023);
motorGo(1, CCW, 1023);
delay(500);

motorGo(0, CCW, 1023);
motorGo(1, CW, 1023);
delay(500);
if ((analogRead(cspin[0]) < CS_THRESHOLD) && (analogRead(cspin[1]) < CS_THRESHOLD))
digitalWrite(statpin, HIGH);
}

void motorOff(int motor)
{
// Initialize braked
for (int i=0; i<2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
analogWrite(pwmpin[motor], 0);
}

/* motorGo() will set a motor going in a specific direction
the motor will continue going in that direction, at that speed
until told to do otherwise.
motor: this should be either 0 or 1, will selet which of the two
motors to be controlled
direct: Should be between 0 and 3, with the following result
0: Brake to VCC
1: Clockwise
2: CounterClockwise
3: Brake to GND
pwm: should be a value between ? and 1023, higher the number, the faster
it'll go
*/
void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)
{
if (motor <= 1)
{
if (direct <=4)
{
// Set inA[motor]
if (direct <=1)
digitalWrite(inApin[motor], HIGH);
else
digitalWrite(inApin[motor], LOW);

// Set inB[motor]
if ((direct==0)||(direct==2))
digitalWrite(inBpin[motor], HIGH);
else
digitalWrite(inBpin[motor], LOW);

analogWrite(pwmpin[motor], pwm);
}
}
}
</pre>

Latest revision as of 22:33, 1 August 2014

Monster Moto Shield with ST Nucleo F401
Monster Moto Shield driving hacked drill motors

Features

  • pair of VNH2SP30 full-bridge motor drivers
  • Voltage max: 16V
  • Maximum current rating: 30 A
  • Practical Continuous Current: 14 A

Resellers

Motors

Program

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