This project is a simple 6-way motor controller, which uses 5V power supply. It can be used to control OWI535 robot arm. It can control 6 channels by using serial port. The open source materials include PCB files, schematic diagrams and driver program in Keil Project(v5), which can be used for driving of some small robotic arms using low-voltage DC motors. In addition, a single LED output can also be controlled through the serial port. The jumper cap can be combined to supply power, that is, the MicroUSB power supply motor is directly used. If the jumper cap is open, you need to plug a 5V power supply into the DC port.
Hardware Configuration:
- Master: STM32F103C8T6
- Driver chip: L298N
- Serial chip: CH340C
Baud rate:115200.
G0 1MXXX 2MXXX 3MXXX 4MXXX 5MXXX 6MXXX FVYYY\n
1M、2M... means 6 motor slots such as M1 and M2 on the driver board. The XXX at the back indicates the motor movement time, the unit is micro-second. The rotation direction is distinguished by positive and negative, and FV represents the overall speed.
YYY speed range: 1 ~ 100
XXX time value range (32-bit integer): -2147483648-2147483647 (not acceptable 0)
It can be omitted directly when there is a motor that does not need to be set, but the speed parameter cannot be omitted.
example:
G0 1M10000 2M10000 3M10000 4M10000 5M-10000 6M-10000 FV50 \n
Means that motors 1, 2, 3, and 4 rotate at 50% speed in the forward direction for 10000ms(10 seconds), and motors 5 and 6 rotate at 50% speed in the opposite direction for 10000ms(10 seconds)
G0 1M10000 2M10000 FV50 \n
Means that motors 1 and 2 are rotating in the forward direction at 50% for 10000ms (10 seconds), and the remaining motor tasks are unchanged.
Return value: OK \n
G203\n
Stop all motors. When you want to stop one specific motor, you can use the G0 command, and you can set the time parameter of the specific motor to 1.
For example: G0 2M1 FV1 means that motor 2 stops moving. The following speed FV parameters are invalid but must exist.
Return value: OK \ n
G201 LEDX\n
X is 1 for LED on, 0 for off
Example: G201 LED1\n turn on the LED.
Query if any motor is moving
Return value: OK V1 \n means in motion, OK V0 \n means no motor running
Note: When there is a conflict between the current command and the previous command, the previous command will be automatically abandoned, and the latest command will be executed.
Linzi GIE Studio 20200225
G0 1MXXX 2MXXX 3MXXX 4MXXX 5MXXX 6MXXX FVYYY\n
1M、2M...即表示驱动板上的M1、M2等6个电机插槽，后面的XXX表示运动时间，单位ms，通过正负区分旋转方向，FV表示整体速度。
YYY速度取值范围：1~100
XXX运动时间取值范围（32位整型）：-2147483648-2147483647（不可取0）
当有不需要设置的电机时可直接缺省，但速度参数不可缺省。
例：
G0 1M10000 2M10000 3M10000 4M10000 5M-10000 6M-10000 FV50\n
表示1、2、3、4号电机以50%速度正向旋转10000ms（10秒），5、6号电机以50%速度反向旋转10000ms（10秒）
G0 1M10000 2M10000 FV50\n
表示1、2号电机以50%速度正向旋转10000ms（10秒），其余电机任务不变
返回值：OK\n
G203\n
注：使全部电机停止转动，当想令某电机单独停止运动可使用G0命令，特定电机时间参数给1即可。
例：G0 2M1 FV1即2号电机停止运动，后面的速度FV参数无效但是必须存在。
返回值：OK\n
G201 LEDX\n
注：X为1则LED开，0则关闭
例：G201 LED1\n则打开LED
查询是否有电机在运动
返回值：OK V1\n表示运动中，OK V0\n表示无运转电机
注：当前后命令有冲突时自动放弃前序命令，以最新接收到的指令为准开始执行
Linzi GIE Studio 20200225