Viper 2x35 Operating Modes

Transcription

1 SP ROBOTIC WORKS PVT. LTD. Viper 2x35 Operating Modes

2 Contents 1. Operating Modes Input Modes R/C Transmitter Mode Microcontroller Mode Motor Control Modes Mixed Mode Independent Mode Servo Commands for Microcontroller Mode Mixed Mode Initialization commands Movement Commands... 4

3 VIPER 2X35 Motor Driver VIPER 2x35 is an easy to use Motor Driver with sophisticated electronics such as MOSFETS to make the control smoother, enable speed control and also generates the necessary combination of signals for you (i.e pushing the front throttle on your remote is enough to make your robot move forward). It also gives a full control over your robot by providing 9 functions- forward, reverse, spot left, spot right, forward right, forward left, reverse left, reverse right and stop with the additional option of Speed Control. It provides four operating modes which are selected using the DIP Switches. 1. Operating Modes Viper 2x35 offers the following operating modes to suit specific needs, 1. Input Modes a. R/C Transmitter Mode b. Microcontroller Mode 2. Motor Control Modes a. Mixed Mode b. Independent Mode 1.1 Input Modes Viper 2x35 can be controlled either by using R/C Transmitter-Receiver or a Microcontroller (eg. Arduino). R/C uses (servo) pulses to send commands to the Viper 2x35. A Microcontroller can be programmed to generate pulses (Servo Library of Arduino) which is then fed to the signal pins of Viper 2x R/C Transmitter Mode Switch State: DIP switch 1 - ON Setting the DIP switch 1 to the ON position selects the R/C Transmitter mode. This mode is used when R/C Transmitter and receiver are going to be used to control the Viper 2x35. R/C Receiver actually puts out signals as servo pulses which will be given as input to Viper. Using servo connector cables, R/C Receiver is connected Viper s DRV and STR signal pins. This mode involves the process of auto-calibration that Viper does when a Transmitter is switched on. Viper will automatically calibrate the neutral state (position) of the Transmitter s joysticks. The Start-up process of Viper 2x35 involving calibration in this mode will be as follows: a. After powering on the Viper Board, S1 LED (BLUE) goes high. b. Once the transmitter is turned on/already turned on, S2 LED (GREEN) goes high and S1 LED starts blinking rapidly after calibrating for a second. Kindly start using the joystick only after S1 LED s blinking starts (after being calibrated). If the transmitter is turned off or receiver is unplugged (or any loss of signal), the motor driving will be stopped and S2 LED (GREEN) will get turned off.

4 1.1.2 Microcontroller Mode Switch State: DIP switch 1 - OFF Setting the DIP switch 1 to the OFF position selects the Microcontroller mode. Using this mode, commands can be given to Viper using a microcontroller (eg. Arduino). The Servo library that comes packaged with Arduino software can be used for this purpose. Values used in servo commands are prefixed. So there will no calibration process unlike R/C Transmitter mode. Refer to section for a sample list of commands used to control the Viper from Arduino. 1.2 Motor Control Modes Viper 2x35 offers to control motors independently with separate signal for each motor (terminal) or both the signals combined to control all the motors Mixed Mode Switch State: DIP switch 2 - ON Setting DIP switch 2 to the ON position selects the mixed mode. The signal going to DRV pin will control both the motors for forward and backward movement. The signal going to STR pin will control both the motors for left and right movement. Both the signals should be available for the motors to run. If one signal is lost/disconnected, then the motor driving will stop Independent Mode Switch State: DIP switch 2 - OFF Setting DIP switch 2 to the OFF position selects the independent mode. Unlike mixed mode, the signals are not dependent and will not control both the motors. Here the signal going to DRV pin will control the motor connected to M1 output terminals. The signal going to STR pin will control the motor connected to M2 output terminals. Since the signals are independent, Viper can be made to run with any one signal in this mode.

5 2. Servo Commands for Microcontroller Mode In order to control the Viper using inputs from an Arduino, the Servo library that comes with Arduino software can be used. 2.1 Mixed Mode Initialization commands Use Servo's 3-argument attach method: servo.attach(pin, min, max); servo1.attach(pin1, 1000, 2000); servo2.attach(pin2, 1000, 2000); Movement commands a. Forward movement: driveservo.write(degree) (or) driveservo.writemicroseconds(microseconds) where - degree ranges from , microseconds ranges from steerservo.write(90) (or) steerservo.writemicroseconds(1500) b. Reverse movement: driveservo.write(degree) (or) driveservo.writemicroseconds(microseconds) where - degree ranges from 0-90, microseconds ranges from steerservo.write(90) (or) steerservo.writemicroseconds(1500) c. Spot Left movement: driveservo.write(90) (or) driveservo.writemicroseconds(1500) steerservo.write(degree) (or) steerservo.writemicroseconds(microseconds) where - degree ranges from 0-90, microseconds ranges from d. Spot Right movement: e. Stop: driveservo.write(90) (or) driveservo.writemicroseconds(1500) steerservo.write(degree) (or) steerservo.writemicroseconds(microseconds) where - degree ranges from , microseconds ranges from driveservo.write(90) (or) driveservo.writemicroseconds(1500) steerservo.write(90) (or) steerservo.writemicroseconds(1500)

6 f. Other movements: Combination of Forward movement s driveservo command and Spot Left (or) Spot Right movement s steerservo command will achieve Forward Left or Forward Right movement respectively. Similarly the combination of Backward movement s driveservo command and Spot Left (or) Spot Right movement s steerservo command will achieve Backward Left or Backward Right movement respectively. On a further note, writemicroseconds method will give more control and accuracy towards speed control. 2.2 Independent Mode Initialization command In this mode, the commands are common for both the signal outputs. As mentioned before, Use Servo's 3-argument attach method: servo.attach(pin, min, max); Movement commands To control motor connected to M1 terminals, write servo pulses to DRV pin. Similarly to control motor connected to M2 terminals, write servo pulses to STR pin. Using the write command: servo.write(degree) (or) servo.writemicroseconds(microseconds) Forward Movement: degree ranges from 0-90, microseconds ranges from Backward Movement: degree ranges from , microseconds ranges from Stop: degree - 90, microseconds 1500 Using forward command for one servo (signal), and backward command for another servo (signal) will achieve left and right movements.