1,96 Nm, Vmax 60V, Imax 12.5 A DC motoru, Pololu PL1456 24V23A sürücü kartı ile PWM üzerinden sürmek istedim. Yaptığım çalışma sonrasında Nano timer ve OC0B/OC0A registerleri üzerinden pwm üretip motoru sürdüm. Çalışmayı paylaşmak istedim. Referanslar : https://www.pololu.com/docs/0J15/5 https://www.projehocam.com/arduino-hizli-cizgi-izleyen-robot/comment-page-1/ Saygılarımla. // **** ilk iki satır HTML yapısından dolayı çıkmıyor. include dan sonra **** // küçük işareti avr/io.h büyük işareti // küçük işareti util/delay.h büyük işareti olacak include
include // uses F_CPU to achieve us and ms delays
// DC Motor Speed Cont.
define DCmotor_PWMH 5 // Nano OC0B
define DCmotor_DIR 6 // Nano OC0A
int pwm_val=0;
int desired_RPM; //user selects
void setup() {
Serial.begin(19200); // Serial Comm.
motors_init();
}
// DC motor Vmax=60, Imax 6A 824 RPM/sec max.
// Used 24VDC seperate Vin
// RPM checked with digital tachometer
void loop() {
desired_RPM=250;
pwm_val = map(desired_RPM,0,824,0,255);
M1_forward(255-pwm_val); // motor 1 forward
delay_ms(7500);
desired_RPM=600;
pwm_val = map(desired_RPM,0,824,0,255);
M1_forward(255-pwm_val);
delay_ms(7500);
M1_forward(0); // motor 1 forward at FULL speed
delay_ms(7500);
}//loop
// Motor Control Functions – pwm is an 8-bit value
// (i.e. ranges from 0 to 255)
void M1_forward(unsigned char pwm)
{
OCR0A = 0;
OCR0B = pwm;
}
void M1_reverse(unsigned char pwm)
{
OCR0B = 0;
OCR0A = pwm;
}
// Motor Initialization routine – this function must be called
// before you use any of the above functions
void motors_init()
{
// configure for inverted PWM output on motor control pins:
// set OCxx on compare match, clear on timer overflow
// Timer0 and Timer2 count up from 0 to 255
TCCR0A = 0xF3;
// use the system clock/8 (=2.5 MHz) as the timer clock
TCCR0B = 0x02;
// initialize all PWMs to 0% duty cycle (braking)
OCR0A = OCR0B = 0;
// set PWM pins as digital outputs (the PWM signals will not
// appear on the lines if they are digital inputs)
DDRD |= (1 << PORTD3) | (1 << PORTD5) | (1 << PORTD6);
DDRB |= (1 << PORTB3);
}
// delay for time_ms milliseconds by looping
// time_ms is a two-byte value that can range from 0 - 65535
// a value of 65535 (0xFF) produces an infinite delay
void delay_ms(unsigned int time_ms)
{
// _delay_ms() comes from and can only
// delay for a max of around 13 ms when the system
// clock is 20 MHz, so we define our own longer delay
// routine based on _delay_ms()
unsigned int i;
for (i = 0; i < time_ms; i++)
_delay_ms(1);
}