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Advance Motor ControlAVR ATmega8 Bases Line Follower.
Easy to make PID LFR Robot.
In the last partwe saw the basis o! D" motor inter!aing with AVR
miroontroller. In this part
we step !#rther to look at the $API ro#tines !or motor ontrol
whih gi%es easy aess to themotors on o#r robot.
Connecting Motors.
Fig. 1 - Motor Connectors
First make the srews loose by #sing a srew &ri%er.
Insert the motor wire in proper onnetors.
Tighten the srews.
http://extremeelectronics.co.in/lfrm8/Help/Motor1.htmhttp://extremeelectronics.co.in/lfrm8/Help/Motor1.htm
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Fig. 2 - Make screws loose
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Fig. 3 - Insert motor wires
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Fig. 4 - Make screws tight again
Fig. 5 - A Geared DC Motor.
xAPI for Motor Control
'otors an be ontrolle& #sing the motor library that omes in
as !ollowing !iles.
motor.c
motor.h
myutils.h
(o# an get these !iles !rom the lib!ol&er in the DVD.
To #se the motor Library &o the !ollowing )*
+. "reate a new !ol&erlibin the pro,et #sing -ol#tion
E$plorer.
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. "reate a new s#b !ol&ermotorinsi&e the
lib!ol&er.
/. 0sing 1in&ows File 'anager opy2paste the motor.c motor.h
! m"#tils.h !iles toyo#r /lib/motor/!rom the DVD.
3. A&&all three !iles to yo#r pro,ets #n&er
li$%motor.
4. 5ow yo# are rea&y to #se the library6
It is ma&e #p o! only three !#ntions.
&oid MotorInit'&oid(
This !#ntion m#st be alle& be!ore any other 'otor "ontrol
F#ntion is #se&. It sets #p the I27Ports an& Initialies the
P1' 'ole o! AVR.
99999999
&oid MotorA'#int)*t dir#int)*t s+eed(
This !#ntion ontrols the 'otor*A. The !irst arg#ment is the
&iretion o! rotation re:#ire&. It anbe one o! the !ollowing
onstants.
'7T7R;-T7P * -tops the motor.
'7T7R;"1 * Rotates the 'otor "lokwise
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'7T7R;""1 * Rotates the 'otor "o#nter "lokwise an& 44.
Examples
Motor&(MOTOR_CCW,2'); //Set Rotation as Anti Clockwise with
aro! 1o" the #a! see$%
The abo%e e$ample set the &iretion o! rotation o! motor*b as
"o#nter "lokwise withappro$imately +>? o! the ma$im#m rate&
spee&. I! the motor was a >> RP' motor then it willrotate
appro$imately > re%ol#tions per min#te
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**********************************************************************/
*incl+$e a-r/io%h.*incl+$e +til/$ela%h.
*incl+$e 0li/#otor/#otor%h0
//Simple Dela! Function
voidWait();
void#ain() //1nitiali2e motor sus!stem Motor3nit();
while(1) //Start #otor % in Cloc3 &ise 4C&5 direction
"ith full speed 4))5 MotorA(MOTOR_CW,2'');
//&ait Wait();
//Set speed to half MotorA(MOTOR_CW,124);
//&ait Wait();
//6o" change direction to Counter Cloc3 &ise 4CC&5
MotorA(MOTOR_CCW,2'');
//&ait Wait();
//6o" change direction to Counter Cloc3 &ise 4CC&5
MotorA(MOTOR_CCW,124);
//&ait Wait(); 5
5
voidWait()
+int8_t i;
for(i6;i2';i77) _$ela_loo_2();
for(i6;i2';i77) _$ela_loo_2();5
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/0I! the motors rotates opposite o! the e$pete& &iretion
then yo# m#st ha%e wire& themotor in wrong polarity. The le!t
wire in the onnetor sho#l& be RED an& the right one
sho#l&be BLA" as shown in abo%e image.
/0(o# nee& a power!#l Battery or A&aptor
