An Arduino Library for controlling DC motors with rotary encoders. This library uses PID and Encoder feedback. It is modeled a little bit after the AccelStepper library.
- Encoder Library, for measuring quadrature encoded signals from http://www.pjrc.com/teensy/td_libs_Encoder.html
- PID Library, for using encoder feedback to controll the motor from http://playground.arduino.cc/Code/PIDLibrary also on GitHub
I used a 754410 quad half-H controller (a pin-compatible L293D). I'm sure it would be cheaper to make out of other components, but i've never done transistor matching, and i'm afraid of burning things.
| L293D or 754410 pins | Device | |
| 1, 9 | arduino | pin_pwm_output |
| 2, 15 | arduino | pin_dir |
| 7, 10 | arduino | pin_dir |
| 4, 5, 12, 13 | power | GND |
| 16 | power | 5V |
| 8 | power | 12V |
| 3, 14 | motor | motor pin 1 |
| 6, 11 | motor | motor pin 2 |
- Metal Gearmotor 37Dx57L mm with 64 CPR Encoder from Pololu
- Arduino
754410 or L293DMC33926 Motor Driver Carrier
Pinout for motor control uses 3 pins for output. It is somewhat wasteful, but had more flexibility. Two pins for direction control, and one for motor power (assuming PWM). Be sure to pick a PWM capable pin for pin_pwm_output.
The two input pins are for the encoder feedback.
Two direcional pins allow for setting a motor brake by shorting the terminals of the motor together (set both directions HIGH, and preferably turn off the PWM)
- implement brake feature for 3-pin mode
- 2-pin constructor
- implement friendlier tuning method for PID