FIT0458

  Micro DC Motor with Encoder‐SJ02 SKU: FIT0458 Contents      1 Introduction 2 Specification 3 Pin Description 4 Tutorial 4.1 Ready to work 4.2 Wiring Diagram 4.3 Interrupt Port with Different Board 4.4 Encoder Sample Code 1 4.5 Encoder Sample Code2 5 More Introduction This is the DFRobot Micro DC geared motor with encoder. It is a motor with a 120:1 gearbox and an integrated quadrature encoder that provides a resolution of 16 pulse single per round giving a maximum output of 1920 within one round. With an Arduino controller and motor driver, applications for this might include a closed-loop PID control or PWM motor speed control. This motor is an ideal option for mobile robot projects. The copper output shaft, embedded thread and reinforced connector greatly extends the motor's service life. Specification            Gear ratio: 120:1 No-load speed @ 6V: 160 rpm No-load speed @ 3V: 60 rpm No-load current @ 6V: 0.17A No-load current @ 3V: 0.14A Max Stall current: 2.8A Max Stall torque: 0.8kgf.cm Rated torque: 0.2kgf.cm Encoder operating voltage: 4.5~7.5V Motor operating voltage: 3~7.5V (Rated voltage 6V) Operating ambient temperature: -10~+60 Pin Description  Grade Name 1 2 Motor power supply pin + Motor power supply pin - 3 Encoder A phase output 4 Encoder B phase output 5 6 Encoder supply GND Encoder supply + Functional Description 3-7.5V，Rated voltage6V Changes square wave with the output frequency of Motor speed Changes square wave with the output frequency of Motor speed(interrupt port) 4.5-7.5V Tutorial Ready to work   hardware DFRduino UNO x1 DC power supply x1 L298 x1 software Arduino IDE Download Arduino IDE https://www.arduino.cc/en/Main/Software Wiring Diagram This tutorial is intended to use the encoder, Select D2 pin and D3 pin, Wherein D2 as an interrupt port, D3 as an input pin. In practice, two pins need to ensure that one of pins must be an interrupt pin, and the other definable (see the interrupt port with different board). Interrupt Port with Different Board Notcie: attachInterrupt() If using an Arduino UNO and you want to use interrupt port 0 (Int.0), you need to connect digital pin D2 on the board. The following code is only used in UNO and Mega2560. If you want to use Arduino Leonardo, you should change digital pin D3 instead of digital pin D2. See the link for details http://arduino.cc/en/Reference/AttachInterrupt Encoder Sample Code 1 //The sample code for driving one way motor encoder const byte encoder0pinA = 2;//A pin -> the interrupt pin 0 const byte encoder0pinB = 3;//B pin -> the digital pin 3 byte encoder0PinALast; int duration;//the number of the pulses boolean Direction;//the rotation direction void setup() { Serial.begin(57600);//Initialize the serial port EncoderInit();//Initialize the module } void loop() { Serial.print("Pulse:"); Serial.println(duration); duration = 0; delay(100); } void EncoderInit() { Direction = true;//default -> Forward pinMode(encoder0pinB,INPUT); attachInterrupt(0, wheelSpeed, CHANGE); } void wheelSpeed() { int Lstate = digitalRead(encoder0pinA); if((encoder0PinALast == LOW) && Lstate==HIGH) { int val = digitalRead(encoder0pinB); if(val == LOW && Direction) { Direction = false; //Reverse } else if(val == HIGH && !Direction) { Direction = true; //Forward } } encoder0PinALast = Lstate; if(!Direction) else duration++; duration--; } Code 1 Expected Output: Explanation: Here you can see serial data. When the motor turns forward, the digital output value is > 0. When the motor reverses direction, digital output < 0. The faster the motor's speed, the greater the value of the number. Encoder Sample Code2 PID control： PID algorithm to control the motor speed by L298P DC motor driver board 1. Motor power port is connected to the L298 drive motor M1 port 2. Download and install Arduino PID https://github.com/br3ttb/Arduino-PID-Library/ //The sample code for driving one way motor encoder #include const byte encoder0pinA = 2;//A pin -> the interrupt pin 0 const byte encoder0pinB = 3;//B pin -> the digital pin 3 int E_left =5; //The enabling of L298PDC motor driver board connection to the digital interface port 5 int M_left =4; //The enabling of L298PDC motor driver board connection to the digital interface port 4 byte encoder0PinALast; double duration,abs_duration;//the number of the pulses boolean Direction;//the rotation direction boolean result; double val_output;//Power supplied to the motor PWM value. double Setpoint; double Kp=0.6, Ki=5, Kd=0; PID myPID(&abs_duration, &val_output, &Setpoint, Kp, Ki, Kd, DIRECT); void setup() { Serial.begin(9600);//Initialize the serial port pinMode(M_left, OUTPUT); oard for the output mode //L298P Control port settings DC motor driver b pinMode(E_left, OUTPUT); Setpoint =80; //Set the output value of the PID myPID.SetMode(AUTOMATIC);//PID is set to automatic mode myPID.SetSampleTime(100);//Set PID sampling frequency is 100ms EncoderInit();//Initialize the module } void loop() { advance();//Motor Forward abs_duration=abs(duration); result=myPID.Compute();//PID conversion is complete and returns 1 if(result) { Serial.print("Pluse: "); Serial.println(duration); duration = 0; //Count clear, wait for the next count } } void EncoderInit() { Direction = true;//default -> Forward pinMode(encoder0pinB,INPUT); attachInterrupt(0, wheelSpeed, CHANGE); } void wheelSpeed() { int Lstate = digitalRead(encoder0pinA); if((encoder0PinALast == LOW) && Lstate==HIGH) { int val = digitalRead(encoder0pinB); if(val == LOW && Direction) { Direction = false; //Reverse } else if(val == HIGH && !Direction) { Direction = true; //Forward } } encoder0PinALast = Lstate; if(!Direction) else duration++; duration--; } void advance()//Motor Forward { digitalWrite(M_left,LOW); analogWrite(E_left,val_output); } void back()//Motor reverse { digitalWrite(M_left,HIGH); analogWrite(E_left,val_output); } void Stop()//Motor stops { digitalWrite(E_left, LOW); } Code 2 Expected Behaviour: The code PID value has been set as 80, so the motor will stabilize at about 80 rpm. If outside forces such as changes in motor drive voltage, the motor's resistance, etc affect the speed, the program will adjust the PWM value to stabilize the rotational speed at 80. More  Motor dimension drawing https://github.com/Arduinolibrary/DFRobot_Micro_DC_Geared_Motor_with_Encoder/raw/ma ster/FIT0458%20Micro%20DC%20Motor%20with%20Encoder-SJ02.pdf https://www.dfrobot.com/wiki/index.php/Micro_DC_Motor_with_Encoder-SJ02_SKU:_FIT0458 Powered By DFRobot © 2008-2017 https://www.dfrobot.com/product-1458.html 4-27-17