Welcome to Motor with Encoder repository
For RDK X5
Drive motor and read encoder-USART
1.1 Explanation
Please read 《0. Motor introduction and usage》first to understand the motor parameters, wiring method, and power supply voltage you are currently using. To avoid improper operation and damage to the driver board or motor.
I2C and serial communication cannot be shared, only one can be selected.
Hardware wiring:
When RDK board and driver board use serial port communication, just connect the USB port on the mainboard to the TYPE-C port on the 4-channel motor driver board.
| Motor | 4-channel motor driver board(Motor) |
|---|---|
| M2 | M- |
| V | 3V3 |
| A | H1A |
| B | H1B |
| G | GND |
| M1 | M+ |
1.2 Instructions
After the RDK board is connected to the USB of the driver board, you can use the following command to check whether the serial port is recognized.
ll /dev/ttyUSB*
In normally, /dev/ttyUSB0 will be displayed. If there is no ttyUSB0 but ttyUSB1, you need to change port='/dev/ttyUSB0' at the beginning of the code to port='/dev/ttyUSB1'
Then, use file transfer software, such as WinSCP, which needs to be searched and downloaded by yourself.
Transfer the py file to the root directory of the RDK board through the software, then open the terminal and run the command.
xxxxxxxxxxsudo python ~/USART.py
1.3 Code analysis
xUPLOAD_DATA = 3 #0:不接受数据 1:接收总的编码器数据 2:接收实时的编码器 3:接收电机当前速度 mm/s #0: Do not receive data 1: Receive total encoder data 2: Receive real-time encoder 3: Receive current motor speed mm/s
MOTOR_TYPE = 1 #1:520电机 2:310电机 3:测速码盘TT电机 4:TT直流减速电机 5:L型520电机 #1:520 motor 2:310 motor 3:speed code disc TT motor 4:TT DC reduction motor 5:L type 520 motorUPLOAD_DATA: used to set the data of the motor encoder. Set 1 to the total number of encoder pulses and 2 to the real-time pulse data of 10ms.
MOTOR_TYPE: used to set the type of motor used. Just modify the corresponding numbers according to the comments according to the motor you are currently using. You don’t need to modify the rest of the code.
If you need to drive the motor and observe the data, just modify the two numbers at the beginning of the program. No changes are required to the rest of the code.
xxxxxxxxxxdef set_motor_parameter():
if MOTOR_TYPE == 1: set_motor_type(1) # 配置电机类型 time.sleep(0.1) set_pluse_phase(30) # 配置减速比，查电机手册得出 time.sleep(0.1) set_pluse_line(11) # 配置磁环线，查电机手册得出 time.sleep(0.1) set_wheel_dis(67.00) # 配置轮子直径，测量得出 time.sleep(0.1) set_motor_deadzone(1900) # 配置电机死区，实验得出 time.sleep(0.1)
elif MOTOR_TYPE == 2: set_motor_type(2) time.sleep(0.1) set_pluse_phase(20) time.sleep(0.1) set_pluse_line(13) time.sleep(0.1) set_wheel_dis(48.00) time.sleep(0.1) set_motor_deadzone(1600) time.sleep(0.1)
elif MOTOR_TYPE == 3: set_motor_type(3) time.sleep(0.1) set_pluse_phase(45) time.sleep(0.1) set_pluse_line(13) time.sleep(0.1) set_wheel_dis(68.00) time.sleep(0.1) set_motor_deadzone(1250) time.sleep(0.1)
elif MOTOR_TYPE == 4: set_motor_type(4) time.sleep(0.1) set_pluse_phase(48) time.sleep(0.1) set_motor_deadzone(1000) time.sleep(0.1)
elif MOTOR_TYPE == 5: set_motor_type(1) time.sleep(0.1) set_pluse_phase(40) time.sleep(0.1) set_pluse_line(11) time.sleep(0.1) set_wheel_dis(67.00) time.sleep(0.1) set_motor_deadzone(1900) time.sleep(0.1)
This is used to store the parameters of the Yahboom motor. By modifying the MOTOR_TYPE parameter above, one-click configuration can be achieved.
In normally, do not modify the code here when using the Yahboom motor.
If you are using your own motor, or if a certain data needs to be modified according to your needs, you can check the course《1.2 Control command》 to understand the specific meaning of each command.