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for more detailed info and circuit diagrams visit the Electronics page |
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| To control the motors we need a device that will convert the low level signal from the robot controller to a high power signal to drive the motor. We also need to be able to control which direction the motor will spin and at what speed. The device we use is called an H-Bridge. It is controlled by signals from the TPU port on the robot controller and requires two outputs, one for forward speed and the other for reverse. The I/O ports on the robot controller are arranged in pairs and the appropriate cable to connect the two together has four wires, two for power and two for control. The motor requires a higher voltage than the robot controller and we can use the power switches on the controller to power the H-Bridge directly from the battery pack. To do this set the Ext Pwr/Main Batt switch to Main Batt (slide the switch to the left) and then set the Int 5v/Aux switch for the appropriate TPU channels to Aux. The power pins on this bank of sockets will now be connected directly to the battery.
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Maintained by wb23@sussex.ac.uk |
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