Basic Motor Control Examples ..........................

Stable release

Unreleased

Status

Work in Progress

Maintainer

davidn@xmos.com

Description

Examples for basic control of stepper and DC motors

Key Features

• DC Motor:

  • Support for multiple motors
  • Basic speed control using PWM library
  • PID control using quadrature encoder for constant speed

• Stepper Motor:

  • Microstepping
  • Current monitoring with ADC
  • Chopping (open loop / closed loop)
  • Decay Modes - Alternating or fixed

To Do

Known Issues

• The XMOS motor control board is designed for 24V motors. To run the 12V brushed DC and 12V stepper motors, the undervoltage section of the power board needs to be modified to prevent it from stopping the FETs. The resistor R99, found near the centre of the power board, should be replaced by a 68K resistor. This will convert the undervoltage protection to 11.7V. Alternatively, removing resistor R100 will disable the undervoltage completely.

Required Repositories ================

• sc_pwm git@github.com:xcore/sc_pwm.git
• xcommon git@github.com:xcore/xcommon.git

Required Hardware

• XP-DSC-BLDC development kit
• Bipolar stepper motor
• DC motor with quadrature encoder

Support

Problems can be reported using the issues tab in github.