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PSoC 5, 3 & 1

Anonymous
Not applicable

Hello everyone, I need some ideas or tips.

   

I am trying to control 4 gear motors using Psoc5

   

Thanks.

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4 Replies
ETRO_SSN583
Esteemed Contributor

Some questions -

   

 

   

1) What type of motor are they, brushed DC, brushless DC, sync AC, stepper, servo ?

   

 

   

2) Power levels of the motor you are trying to control ?

   

 

   

3) Max RPM of motors ?

   

 

   

4) Control loop desired, PID, Open Loop.....

   

 

   

Regards, Dana.

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Anonymous
Not applicable

Hello Dana, thank you for the reply.

   

The motors I am going to use are Gear Head Motor - 12vdc 30:1 200rpm (6mm shaft).
here is the link for the motors ( http://www.lynxmotion.com/p-653-gear-head-motor-12vdc-301-200rpm-6mm-shaft.aspx )

   

Voltage = 12vdc
RPM = 200
Reduction = 30:1
Stall Torque = 55.6 oz-in (4 kg-cm)
Outside Diameter = 37mm
Weight = 4.26 oz.

   

I am also going to install encoder to measure the rpm of the motors. Here is the link for that( http://www.lynxmotion.com/p-448-quadrature-motor-encoder-wcable.aspx )

   

Encoder = 100 cycles per revolution
Encoder = 400 quadrature counts per revolution
Frequency = up to 30khz

   

To control the motors I am going to use Sabertooth 2X5 R/C Regenerative Dual Channel Motor Controller. Here is the link ( http://www.lynxmotion.com/p-572-sabertooth-2x5-rc-regenerative-dual-channel-motor-controller.aspx )

   

Control = Analog, R/C
Channels = 2 (dual motor controller)
Voltage = 6.0vdc - 18.0vdc
Continuous Current = 5amps
Peak Current = 10amps
Features = Synchronous regenerative drive, Ultrasonic switching frequency, Thermal and overcurrent protection, Lithium protection mode

   

For question #4, I am not really sure. I think I will use a PID.

   

I wil have two robots. The first robot i will control it. The sencond one will be autonomous. In front of the autonomous robot there are going to be 4 sonar sensors. The sonor sensors will make sure the autonomous robot does not crash into the pilot robot.

   

Thanks

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ETRO_SSN583
Esteemed Contributor
        This might point you in some direction - http://www.cypress.com/?app=forum&id=2232&rID=71931 http://www.psocdeveloper.com/forums/viewtopic.php?f=3&t=8088 This is a PSOC 1 discussion, but porting to 3/5 should be relatively straight forward. PSOC has 8 bit DAC, an approach to higher res can be found here - http://www.cypress.com/?rID=39285 http://www.cypress.com/?rID=47478 AN64275 You can always use/consider the UDB editor to handle parts of the loop - http://www.cypress.com/?rID=88998 A series of videos. Regards, Dana.   
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Anonymous
Not applicable

Thank you for your help

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