Welcome to 520 Motor repository

1.AT8236 drive tutorials

AT8236 drive tutorials

1. Learning objectives

Use AT8236 motor driver module to drive the motor.

2. Hardware connection

Connect the pins of 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+
AO2	Motor-

AT8236 motor driver module voltage standard version pin description.

3. Code analysis

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, path: D:\TI\M0_SDK\mspm0_sdk_1_30_00_03\TB6612

For STM32

TB6612 drive tutorials