Polar Bear Motor Controller

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The Polar Bear Motor Controller (also called the PiE Motor Controller) is a motor controller board developed in-house by PiE to serve as the primary motor controller board for the 2012 competition. It communicates with the FEZ Panda II via a 3-wire I2C cable and can also interface with an encoder.

Contents

Wiring it Up

See the main Wiring Diagram Page.

Using Motor Without Encoder

Motor controller.svg

Using Motor with Encoder

Motor controller encoder-wikiexport.svg

Addressing Scheme

Final Version of the Board (without the through-hole components)

The I2C Address is indicated by a shiny star on the back of the board where red=0x0A, and gold=0x0B, blue=0x0C, silver=0x0D, and green=0x0E. The address 0x0Fis simply written on masking tape on the back of the board as we ran out of colors. Currently, the only way to change the adress is to bring the motor controller in to PiE headquarters (O'Brien). You must use the I2C address when referring to motor controllers in software so that the FEZ Panda knows which board you are referring to. Please note that the address refers to the actual motor, and not the pins the motor signal wires are connected to on the topboard.

How to go About changing the Address

Every board on your robot must have a unique I2C address, so if you have two boards with the same address, exchange the board with a PiE staff member for one with a different address. The PiE staff member may alternately choose to change the address of the controller manually assigning it a new address by uploading new firmware and replacing the sticker. The address that the board uses is hardcoded into the firmware and can only be changed by re-uploading code to the microcontroller.

Bottom

Please ignore anything written on the bottom of the motor controller. These probably indicate notes made during the manufacturing process. The only important thing on the bottom of the board is the colored star (See the description of the addressing scheme above).

LED Signals

Confused about what the LEDs mean on your robot? This helpful table should let you know what's going on.

These LEDs are located on your motor controller board in the locations shown in the picture

Ex. If both the red and green LED are on the motor controller, then there is an error!

Red Green
Brake OFF OFF
Forward OFF ON
Reverse ON OFF
Error' ON ON
Position of the leds on the motor controller board

Technical Details

Final Version of the Board under a magnifying glass (without the through-hole components)

Firmware

Firmware is available at https://github.com/keeganmann/PiE-Motor-Controller).

Testing

See the i2ctester project on GitHub: https://github.com/keeganmann/PiE-Motor-Controller

I2C Interface

See the official I2C standard for basic information about the I2C protocol: http://www.nxp.com/documents/user_manual/UM10204.pdf

I2C Device Address

Eventually, we may add the ability to change the device address using I2C, but for the time being it is hard-coded.

Reading and Writing Registers

To write to a series of registers, first write the address pointer byte and then send data bytes. Data will fill up registers one after the other starting at the one specified by the start byte. For each byte sent, the address pointer will increment. Note that by writing a single byte, you can set the address pointer without changing any data.

To read a series of registers, set the address as described above, then read a single byte. Each time a byte is read, the address pointer will increment. Note that although multiple bytes can be written at a time, only a single byte can be read per transaction.

Note: Maximum transaction length is 32 bytes (I don’t anticipate this to be a problem).

I2C Registers

NOTE THAT ONLY FEATURES IN BOLD ARE IMPLEMENTED.

Register Function Values Description
Basic Settings:
0x01 Motor direction
  • 0=rev/coast,
  • 1=fwd/coast,
  • 2=brake/coast,
  • 3=rev/break,
  • 4=fwd/break
Sets not just the direction, but also the mode of operation. The form A/B indicates the two states between which PWM alternates. The Motor PWM register below determines how long the controller stays in state A relative to state B.
0x02 Motor PWM/speed 0-255 where:
  • 0=full off
  • 255=full on
Also used to set the amount of braking.
Feedback:
0x10-0x11 Motor Feedback Two-byte unsigned integer Voltage on the feedback pin of the H-bridge where 0=0V and 1024=5V. To get motor current, use: (Current)=(Feedback Value)*75/4096
Encoder:
0x20-0x23 Encoder count Signed two’s complement 4-byte integer Number of steps the encoder has moved since the last reset.
0x24-0x27 Encoder Loopback Point 0=No loopback point,

Otherwise, a positive 4-byte integer

The maximum value the encoder will get to before resetting to zero. Useful when the number of revolutions is not significant and you only want the angle. Also used by PID. Note, encoder count will never go negative with this set.
0x28-0x2B Encoder Velocity An IEEE-754 binary32 number Rate at which the encoder is moving in steps per second
PID Controller:
0x30-0x33 PID Setpoint An IEEE-754 binary32 number Read more about PIDs to understand this
0x34-0x37 PID P-Constant An IEEE-754 binary32 number
0x38-0x3B PID I-Constant An IEEE-754 binary32 number
0x3C-0x3F PID D-Constant An IEEE-754 binary32 number
0x40 PID Enable
  • 0=Disable,
  • 1=Enable Current,
  • 2=Enable Encoder (speed),
  • 3=Enable Encoder (pos)?
Enable PID using current feedback or using the encoder speed (or maybe position too).
Device Settings:
0x50 I2C Address 0x00-0x7F Used for resetting the I2C Address
0x51 PWM Frequency xxx FRE
0x61 Firmware Version 0-255 Read-only
0x62-0x6B Compilation Date 11-char ASCII string:

"Feb 12 1996"

Date when the firmware was compiled.
0x6B-0x72 Compilation Time 8-char ASCII string:

"23:59:01"

Time when the firmware was compiled.
Current Limiting:
 ???? Cutoff Begin ###-### When current limiting should kick in.
Debug Registers:
0xA0 Stress Period 0=Inactive

1-255=Period in hundredths of a second

Will toggle the direction between forward and reverse at the specified frequency.
0xA1 Nyan.jpg 0=Inactive Note that this functionality is as of yet unavailable in version 0.5 of the firmware. It is only available in version 0.4.

Eagle PCB Design Files

The eagle files are available here on google docs: https://docs.google.com/open?id=0B2ZbLCPalrgENkM1akROT3dSQ2kySHBHTVU1dmxCUQ

Sample Code for the FEZ Panda

See I2CMotorController, the class that controls Polar Bear Motor Controllers.