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L-Type Motor📖
1.About motor
  • About motor
2.ROS robot control board drive
  • 0. Notes (Must read!!)
  • 1. Control motor
  • 2. Timer captures encoder data
  • 3. PID control robot car
  • 4. Kinematic Analysis-Mecanum wheel structure
  • 5. Kinematic Analysis-Ackerman structure
  • 6. Kinematic Analysis-4WD structure
3.STM32 board car tutorials
0. Notes (Must read!!)
  • Notes
1. Get started quickly
  • 0. Installation Instructions
  • 1. Version configuration
  • 2. Smart car installation video
  • 3. Precautions for use
2. Introduction to STM32 development board
  • 0. Notes (must read)
  • 1. Learn about STM32
  • 2. Introduction to STM32 development board
  • 3. Development board pin assignment
  • 4. Introduction to HAL library and LL library
3. Setting up and using the development environment
  • 1. Common development tools
  • 2. STM32CubeMX Install - Use
  • 3. STM32CubeIDE Install - Use
  • 4. Common Driver Installation
  • 5. Program download and simulation
  • 6. Engineering experience and migration
4. Car expansion tutorial
  • 1. Servo control
  • 2. Basic use of ultrasonic steering gear gimbal
  • 3. Motor control
  • 4. OLED display light sensitivity value
  • 5. Infrared sensor
  • 6. Four-way tracking module
  • 7. Infrared remote control
  • 8. Ultrasonic ranging
  • 9. PS2 controller test
  • 10. Car line patrol
  • 11. Ultrasonic follow
  • 12. Ultrasonic obstacle avoidance
  • 13. Ultrasonic obstacle avoidance (servo gimbal version)
  • 14. Infrared sensor obstacle avoidance
  • 15. Infrared remote control
  • 16. PS2 handle remote control
4. 2-channel motor drive module
For MSPM0G3507
  • 1.AT8236 drive tutorials
  • 2.TB6612 drive tutorials
For MSPM0G3519
  • 1.AT8236 drive tutorialsnew
  • 2.TB6612 drive tutorialsnew
5. 4-channel motor drive module
Introduction and Debug
  • 1.Introduction to 4-channel motor drive board
  • 2. Control command
  • 3. 520 motor introduction and usage
  • 4. PC host
IIC communication
  • For MSPM0G3507
  • For MSPM0G3519new
  • For STM32
  • For ESP32
  • For Arduino
  • For PICO2
  • For Jetson NANO
  • For RPi5
  • For RDK X5
USART communication
  • For MSPM0G3507
  • For MSPM0G3519new
  • For STM32
  • For ESP32
  • For Arduino
  • For PICO2
  • For Jetson NANO
  • For RPi5
  • For RDK X5
Download
  • 3D-Model-File
  • Code
Download ZIP

Welcome to L-Type Motor repository

3. Development board pin assignment

Development board pin assignment

Development board pin assignment1. Interface introduction:2. Physical picture3. Schematic diagram4. Pin index1. RGB light2. Buzzer3. Button4. CCD camera5. Motor6. Serial port7. Ultrasonic module8. Electromagnetic tracking module9. Four-way tracking module10. PS2 controller11. OLED module12. PWM steering gear13. Gyroscope14. Infrared remote control

1. Interface introduction:

The following is the interface diagram of the STM32 expansion board

The external interfaces on the expansion board are:

Power input interface, SWD interface, serial port interface, OLED, type-C communication interface, PWM servo interface, function buttons, electromagnetic tracking interface, four-way line patrol interface, CCD camera interface, PS2 handle interface, pin header interface, ultrasonic module

2. Physical picture

  1. Infrared obstacle avoidance module
  2. RGB searchlight
  3. Ultrasonic module interface: used to connect external ultrasonic module
  4. Electromagnetic tracking interface: used to connect external electromagnetic line tracking sensors
  5. X3 radar interface: used to connect external YDLIDAR X3 radar
  6. Serial port 2 interface: can be used to connect external k210 vision module
  7. Linear CCD camera interface: used for external linear CCD camera
  8. Pins derived from STM32f103ZET6.

  1. PS2 controller receiver interface: used to connect external PS2 controller receiver

  2. Fingerprint module interface: used for external fingerprint module

  3. Voice interaction module interface: used to connect external voice interaction module

  4. T-shaped DC 7.4V power input interface: used as the main power input of the expansion board, connected to the DC 7.4V power supply or 7.4V battery.

  5. MPU6050 interface: used to connect external MPU6050 module

  6. Serial port 1 interface: used to debug the serial port

  7. SWD interface: used for microcontroller debugging

  8. Bluetooth module interface: used for external Bluetooth module

  9. OLED screen interface: external 0.91-inch OLED LCD screen

  10. Buzzer: Onboard active buzzer.

  11. Buttons KEY1, KEY2, KEY3: user function buttons, which can be programmed to achieve customized functions. Button RESET: Onboard microcontroller reset button.

  12. STM32-USB device interface: can realize STM32 USB function

  13. Charging interface: can charge external batteries

  14. On/off button: The main on/off button of the expansion board

  15. PWM servo voltage switching: Change the position of the jumper cap to select 7.4V or 5V voltage to power the PWM servo.

  16. PWM servo interface: It can connect to 7.4V or 5V voltage PWM servo. You need to select the corresponding voltage in 23 according to the servo voltage.

  17. RGB light strip interface: connect RGB light strip

  18. Type-C data interface: Programming for microcontroller

  19. (3.3/5V) output interface: output 3.3V/5V voltage to the outside

    1. Four-way tracking module interface: used for external four-way tracking module
    2. Motor interface: for external 310 motor

3. Schematic diagram

There are corresponding pin silkscreens on the expansion board, and you can directly connect them according to the silkscreens.

4. Pin index

1. RGB light

Schematic identifierControl pinSpecific meaning
RRGB-RPE2Right RGB light, control red
RRGB-GPE3Right RGB light, control green
RRGB-BPE4Right RGB light, control blue
LRGB-RPG1Left RGB light, control red
LRGB-GPE7Left RGB light, control green
LRGB-BPG2Left RGB light, control blue

2. Buzzer

  • Control principle

    High and low level control active buzzer sound

Schematic identifierControl pinSpecific meaning
BuzzerPG12Control active buzzer sound

3. Button

Schematic identifierControl pinSpecific meaning
KEY1PG3Key 1
KEY2PG4Key 2
KEY3PG5Button 3

4. CCD camera

Schematic identifierControl pinSpecific meaning
CCD-SIPF4CCD camera signal acquisition terminal
CCD-CLKPF5CCD camera control clock terminal
CCD-AOPF6CCD gray value output terminal

5. Motor

Schematic identifierControl pinSpecific meaning
M1APC6M1 motor phase A
M1BPC7M1 motor B phase
M2APC8M2 motor phase A
M2BPC9M2 motor B phase
M3APE9M3 motor phase A
M3BPE11M3 motor phase B
M4APE13M4 motor phase A
M4BPE14M4 motor phase B

6. Serial port

Schematic identifierControl pinSpecific meaning
USART1_TXPA9Serial port 1 output
USART1_RXPA10Serial port 1 receiving end
USART2_TXPD5Serial port 2 output
USART2_RXPD6Serial port 2 receiving end
USART3_TXPD8Serial port 3 output
USART3_RXPD9Serial port 3 receiving end
USART4_TXPC10Serial port 4 receiving end
USART1_RXPC11Serial port 4 output
USART5_TXPC12Serial port 5 receiving end
USART1_RXPD2Serial port 5 output

7. Ultrasonic module

Schematic identifierControl pinSpecific meaning
TRIGPF11Ultrasonic module control terminal
ECHOPF12Ultrasonic module receiving end

8. Electromagnetic tracking module

Schematic identifierControl pinSpecific meaning
ADC-L1PC0Electromagnetic tracking module output
ADC-L2PC1Electromagnetic tracking module output
ADC-L3PC2Electromagnetic tracking module output
ADC-L4PC3Electromagnetic tracking module output

9. Four-way tracking module

Schematic identifierControl pinSpecific meaning
X1PF13Four-channel tracking signal output terminal
X2PF14Four tracking 21 signal output terminals
X3PF15Four-channel tracking 3-channel signal output terminal
X4PG0Four-channel tracking 4-channel signal output terminal

10. PS2 controller

Schematic identifierControl pinSpecific meaning
PS2-CSPA4PS controller receiver
PS2-SCKPA5PS controller receiver
PS2-MISOPA6PS controller receiver
PS2-MOSIPA7PS controller receiver

11. OLED module

Schematic identifierControl pinSpecific meaning
I2C1_SCLPB6Clock line
I2C1_SDAPB7Data line

12. PWM steering gear

Schematic identifierControl pinSpecific meaning
S1PB0PWM servo interface
S2PB1PWM servo interface
S3PD14PWM servo interface
S4PD15PWM servo interface

13. Gyroscope

Schematic identifierControl pinSpecific meaning
ADOPE1Empty pin
INTPE0Empty pin
I2C1_SCLPB6Clock line
I2C1_SDAPB7Data line

14. Infrared remote control

Schematic identifierControl pinSpecific meaning
HS0038BPG11Signal output

 

Introduction to STM32 development board
Introduction to HAL library and LL library

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