AT8236 2-Channel Motor Driver Module

1. Learning Objectives

Use AT8236 motor driver module to drive the motor.

2. Hardware connection

Pin connection between MSPM0G3507 and AT8236

L1 motor:

MSPM0G3507	AT8236
PA12	AIN1
PA13	AIN2

L2 motor:

MSPM0G3507	AT8236
PA26	BIN1
PA27	BIN2

R1 motor:

MSPM0G3507	AT8236
PA21	AIN1
PA22	AIN2

R2 motor:

MSPM0G3507	AT8236
PA0	BIN1
PA1	BIN2

Motor and voltage regulator board pin connection:

AT8236	Motor
AO1	Motor power +
AO2	Motor power -

AT8236 motor driver module voltage regulator board pin description:

3. Program description

bsp_at8236.h


x
#ifndef __BSP_TB6612_H_
#define __BSP_TB6612_H_
#include "ti_msp_dl_config.h"
void init_motor(void);
void L1_control(uint16_t motor_speed,uint8_t dir);
void L2_control(uint16_t motor_speed,uint8_t dir);
void R1_control(uint16_t motor_speed,uint8_t dir);
void R2_control(uint16_t motor_speed,uint8_t dir);
#endif

Define four motor control functions.

bsp_at8236.c


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void L1_control(uint16_t motor_speed,uint8_t dir)
{
if(dir)
{
DL_TimerA_setCaptureCompareValue(PWM_L1_INST, motor_speed, DL_TIMER_CC_0_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_L1_INST, 0, DL_TIMER_CC_1_INDEX);
}
else
{
DL_TimerA_setCaptureCompareValue(PWM_L1_INST, 0, DL_TIMER_CC_0_INDEX);
DL_TimerA_setCaptureCompareValue(PWM_L1_INST, motor_speed, DL_TIMER_CC_1_INDEX);
}
}

The L1_control function is used to control the speed and direction of the L1 motor by adjusting the duty cycle of the PWM signal.

motor_speed and dir represent the motor speed and motor direction of the motor respectively.

Note: The project source code must be placed in the SDK path for compilation,

For example, the path: D:\TI\M0_SDK\mspm0_sdk_1_30_00_03\TB6612