Pololu Simple Bedienungsanleitung Seite 1

Pololu Simple Motor ControllerUser's GuidePololu Simple Motor Controller User's Guide © 2001–2014 Pololu Corporationhttp://www.pololu.com/do

2. Contacting PololuYou can check the Pololu Simple Motor Controller pages[http://www.pololu.com/category/94/pololu-simple-motor-controllers] for addi

CRCTable[i] = getCRCForByte(i);}}unsigned char getCRC(unsigned char message[], unsigned char length){unsigned char i, crc = 0;for (i = 0; i < lengt

The Pololu USB SDK contains example code forthe Simple Motor Controller in C#, Visual C++,and Visual Basic .NET.7. Writing PC Software to Control the

3. Getting Started3.1. Installing Windows Drivers and SoftwareIf you are using Windows XP, you will need to have Service Pack 3 [http://www.microsoft.

7. On the second screen of the “Found New Hardware Wizard”, select “Install the software automatically” andclick “Next”.Pololu Simple Motor Controller

8. Windows XP will warn you again that the driver has not been tested by Microsoft and recommend that youstop the installation. Click “Continue Anyway

If you use Windows XP and experience problems installing or using the serial port drivers, the cause ofyour problems might be a bug in older versions

Windows Vista or Windows 7 device manager showing a Simple Motor Controller.Windows XP device manager showing a Simple Motor Controller.Some software

The Pololu Simple Motor Control Center runningunder Linux.3.2. Installing Linux Drivers and SoftwareYou can download the Pololu Simple Motor ControlCe

The Status tab in the Simple Motor Control Center should look like this when you first connectthe controller to the PC.Target Speed and Current SpeedT

Motor LimitsThe Motor Limits box in the Status tab shows the current limits on the movement of the motor. These limits will beequal to the hard motor

Advanced Settings tab and will generate an error and shut down the motor if it passes these thresholds. Thisallows a properly configured controller to

1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The Errors box in the Status tab of the Pololu SimpleMotor Control Center reveals problems that are stoppingyour motor.3.4. ErrorsThe Simple Motor Con

Input Settings tab to see which channels are required. Channels that are required and invalid are highlighted inred in the Input Channels box of the S

3.5. LED FeedbackThe Simple Motor Controllers have three indicator LEDs that provide feedback about the current state of thecontroller. The LEDs can t

Green USB LEDThis LED indicates the USB status of the device. When the Simple Motor Controller is not connected to acomputer via the USB cable, the gr

4. Connecting Your Motor ControllerThis chapter explains all the electrical connections you might need to make to get your motor controller working th

• Simple High-Power Motor Controller 18v25 and 24v23 Pin-OutPololu Simple Motor Controller User's Guide © 2001–2014 Pololu Corporation4. Connecti

4.1. Connecting Power and a MotorWarning: Take proper safety precautions when using high-power electronics. Make sure you know whatyou are doing when

Simple Motor Controller 18v7 power and motor connections.Simple High-Power Motor Controller 18v15 or 24v12 power and motorconnections.Simple High-Powe

Power ConsiderationsThe Pololu Simple Motor Controllers can be powered either from USB using a USB A to mini-B cable[http://www.pololu.com/product/130

Motor ConsiderationsThe two terminals of your brushed, DC motor connect to the OUTA and OUTB pins. When selecting a motor foryour controller (or a con

Simple Motor Controllers.Simple High-Power Motor Controller 18v25 or 24v23 simplifiedconnection diagram.1. OverviewThe Pololu Simple Motor Controllers

Power and Motor ConnectorsSimple Motor Controller18v7, fully assembled.Simple High-Power MotorController 18v15 or 24v12,fully assembled.Simple High-Po

[http://www.pololu.com/product/2440], and pairs of 0.1"-spaced holes, which are compatible with the included 0.1"male header strip [http://w

Status tab in the Pololu Simple Motor Control Center.Before you can move the motor, you will probably need to click the green Resume button in the low

Simple Motor Controller 18v7 serial connections.Simple High-Power Motor Controller 18v15 or 24v12 serial connections.Simple High-Power Motor Controlle

Whenever connecting devices, remember to wire the grounds together, and ensure that each deviceis properly powered. Unpowered devices with a TTL seria

from the controller, you can connect the TX pin to the microcontroller’s TTL serial receive pin and/or connect theERR pin to one of the microcontrolle

The TXIN Pin in DetailThe TXIN pin is a special input that allows multiple Simple Motor Controllers to be chained together withoutrequiring an externa

4.3. Connecting an RC ReceiverSimple Motor Controller can be directly connected to an RC receiver, allowing for wireless, manual motor control.The RC

RC Connections OverviewThe RC connection block consists of two channels oriented as columns and a battery elimination circuit (BEC)column for supplyin

speed by summing the throttle and steering channels (CH1+CH2) while right mixing mode obtains motor speedby taking the difference of the throttle and

Note: A USB A to mini-B cable [http://www.pololu.com/product/130] (not included) is required to connect thiscontroller to a computer.Additional Featur

Limit/Kill SwitchesUnused RC channels can also be used as limit or kill switches. For example, you could use an RC signal as a killswitch to stop your

Simple High-Power Motor Controller 18v15 or 24v12 analogconnections.Simple High-Power Motor Controller 18v25 or 24v23 analog connections.Analog Connec

Note: The analog channel inputs are not 5V tolerant, so you must not connect voltages over 3.3 V to thesepins. If your control source outputs voltages

full forward (CH1=max) and steering is neutral (CH2=0), left- and right-mixed motors are both driven forward at fullspeed and the robot goes forward.

5. Configuring Your Motor ControllerThe Simple Motor Controllers can be configured over USB using the Pololu Simple Motor Control Center, which isavai

Input Settings tab in the Pololu Simple Motor Control Center.Input ModeThe Input Mode specifies what kind of input the controller will use to calculat

The primary use of mixing is for controlling a motor on a differential drive robot. You can use one Simple MotorController for each motor on the robot

could use the kill switch feature and the Serial/USB input mode to make an autonomous robot that you canconveniently immobilize from a distance using

The Error min. and Error max. parameters should be set so that the input channel’s Raw Value is always within thatrange whenever the input is operatin

7. Click the “Learn…” button for the channel in the Input Settings tab. The Channel Setup Wizard will walkyou through the steps needed to calibrate yo

Two Pololu Simple Motor Controllersenable mixed RC-control of Dagu WildThumper 4WD all-terrain chassis.• RC features:◦ 1/4 µs pulse measurement resolu

They are called Hard Limits because they are stored in non-volatile memory and they are always obeyed. However,all of them except Starting Speed can b

Invert motor direction option enabled, Forward means the average voltage on OUTA is less than the average voltageon OUTB.The PWM frequency setting spe

Advanced Settings tab in the Pololu Simple Motor Control Center.VIN DetectionThese options specify how to measure the voltage on the VIN line.The Low

is being pulled down a hill by gravity, the extra voltage generated by the motors might trigger a VIN error and thecontroller would attempt to stop yo

this means that you will no longer have to center your inputs in order to restart the motor after an error. This optionmakes it more likely that the m

Linux users: The Simple Motor Controller’s firmware cannot be upgraded from a Linux computer. Thisis due to bugs in recent versions of mono, which we

6. Using the Serial InterfaceThe Simple Motor Controller has two serial interfaces that allow you to send commands and receive responses fromthe contr

The voltage on the RX pin should not go below 0 V and should not exceed 5 V.The Simple Motor Controller provides logic-level (0 to 3.3 V) serial outpu

Note: TTL serial is not the same as RS-232 serial. You must use an inverter and level shifter such as aMAX232 or a Pololu 23201a Serial Adapter [http:

• Commands only: The proper CRC byte must be appended to the end of every Binary Mode serial commandpacket. If the CRC byte is not appended or is inco

2This is the weight of the board without header pins, terminal blocks, or through-hole power capacitor.Warning: Take proper safety precautions when us

This means that each data byte can only transmit seven bits of information. The only exception to this is the Mini SSCcommand, where the command byte

remaining bytes in the command packet are the same as the compact protocol command packet you would send, withone key difference: the compact protocol

Trying the Binary Serial InterfaceIf you are having trouble using the Binary protocols, it can help to first use a program like the Pololu SerialTrans

Description: If the Input Mode is Serial/USB, and you have not disabled Safe-start protection, then this commandis required before the motor can run.

This command has no serial response.Example:If we want to set the motor target speed to half-speed forward, we can use the above equations to compute

To set the motor target speed to approximately half-speed forward (63), we could send the following compactprotocol bytes:We Send:Command Byte Data By

To set the motor outputs to 50% braking (a Brake Amount of 16), we would transmit the following compactprotocol bytes:We Send:Command Byte Data Byte 1

Response Byte 1 Response Byte 20x1E (30) 0x01 (1)This response tells us that the temperature is:30 + 256 * 1 = 286in units of 0.1 °C, which means the

ID Name Allowed Values Units0 or 4 Max Speed Forward 0–3200 0=0%, 3200=100%1 or 5 Max Acceleration Forward 0–3200 (0=no limit)Δspeed perupdate period2

be decreased below their hard-limit counterparts. If you try to set a temporary limit in a way prohibited by thecorresponding hard limit, the temporar

1.2. 18v15 and 24v12 Included HardwareSimple High-Power MotorController 18v15 or 24v12,partial kit with includedhardware.Simple High-Power MotorContro

Command Byte Data Byte 1 Data Byte 2Compact Protocol 0xC2 (194) - -Pololu Protocol 0xAA (170) device number 0x42 (66)Response Format:Response Byte 1 R

limits will be respected) and not allow the motor to start again until the Safe-Start conditions required by the InputMode are satisfied. This command

Command String Command Name“GO” Exit Safe-Start“F” Motor Forward“R” Motor Reverse“B” Motor Brake“D” Get Variable“L” Set Motor Limit“V” Get Firmware Ve

The ASCII mode serial response is always terminated by a carriage return (<CR>) followed by a line feed (<LF>).For example, if we send a M

You can get to this dialog by going to the File > Properties menu and clicking on the ASCII Setup… button underthe Settings tab.Pololu Simple Motor

Sending ASCII commands to the Simple Motor Controllerfrom HyperTerminal (with echoing of typed charactersenabled).6.3.1. ASCII Command ReferenceExit S

putting an “H” at the end of the number. If the argument brake_amount is outside the allowed range, a SerialFormat Error occurs.Error. Examples: The f

ID Name Allowed Values Units“0” or “4” Max Speed Forward 0–3200 0=0%, 3200=100%“1” or “5” Max Acceleration Forward 0–3200 (0=no limit)Δspeed perupdate

The limit values set with this command persist only until the controller is next reset or the “Applysettings” button is next clicked in the Simple Mot

ID Name Description0ErrorStatusThe set bits of this variable indicate the errors that are currently stopping the motor. The motorcan only be driven wh

1.3. 18v25 and 24v23 Included HardwareSimple High-Power MotorController 18v25 or 24v23with included hardware.Simple High-Power MotorController 18v25 o

• Bit 6: RC2 limit/kill switch is active (scaled value ≥ 1600).• Bit 7: AN1 limit/kill switch is active (scaled value ≥ 1600).• Bit 8: AN2 limit/kill

ID Name Type Description Units4RC1UnlimitedRawValueunsigned16-bitThe positive pulse width of the signal on RC channel 1. This value is 0xFFFF(65535) i

ID Name Type Description Units12AN1UnlimitedRawValueunsigned16-bitThe 12-bit ADC reading of analog channel 1. This value is 0xFFFF(65535) if the contr

ID Name Type Description Units20TargetSpeedsigned16-bitMotor target speed (-3200 to +3200) requested by the controllinginterface.internalunits21 Speed

ID Name Type Description Units30Max SpeedForwardunsigned16-bitMaximum allowed motor speed in the forward direction (0 to3200).internal units31MaxAccel

basically a carryless long division of a CRC “polynomial”, 0x91, into your message (expressed as a continuous streamof bits), where all you care about

_______________ | | | | | | | | | |1 1 0 1 1 0 0 0 | | | | | | |1 0 0 0 1 0 0 1 | | | | | | |_______________ | | | | | | |1 0 1 0 0 0 1 0 | | | | | |1

Daisy chaining serial devices that have a TXIN input.For additional connection diagrams and more information about the TXIN pin, see Section 4.2.Conne

Arduino R3, top view.6.7.1. Arduino ExamplesThe Arduino [http://www.pololu.com/product/2191] is a popular prototypingplatform that is well suited for

else{smcSerial.write(0x85); // motor forward command}smcSerial.write(speed & 0x1F);smcSerial.write(speed >> 5);}void setup(){// initialize

Mac OS X compatibility: we have confirmed that the Simple Motor Controller works on Mac OS X10.7 and we can assist with advanced technical issues, but

#define ERROR_STATUS 0#define LIMIT_STATUS 3#define TARGET_SPEED 20#define INPUT_VOLTAGE 23#define TEMPERATURE 24// some motor limit IDs#define FORWAR

Orangutan SVP fully assembled.smcSerial.write(0xAA); // send baud-indicator bytesetMotorLimit(FORWARD_ACCELERATION, 4);setMotorLimit(REVERSE_ACCELERA

• Orangutan GND to Simple Motor Controller GNDPin PD0 is the Orangutan’s hardware serial receive line and must be connected to the Simple Motor Contro

// if the Simple Motor Controller has automatic baud detection// enabled, we first need to send it the byte 0xAA (170 in decimal)// so that it can lea

char command[4];// These first three functions call the appropriate Pololu AVR library serial functions// depending on which Orangutan you are using.

{command[0] = 0xA1;command[1] = variableID;sendBlocking(command, 2);unsigned int response;if (receiveBlocking((char *)&response, 2, 500))return 0;

setup();while (1){loop();}}6.7.3. Cross-platform C ExampleThe example C code below works on Windows, Linux, and Mac OS X 10.7 or later. It demonstrate

// Returns a number where each bit represents a different error, and the// bit is 1 if the error is currently active.// See the user's guide for

printf("Setting Target Speed to %d.\n", newSpeed);smcSetTargetSpeed(fd, newSpeed);close(fd);return 0;}6.7.4. Windows C ExampleFor example C

6.7.6. CRC Computation in CSimple ExampleThe following example program shows how to compute a CRC byte in the C language. The outer loop processes eac