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I-Shape - TT Motor with Encoder (6V 160RPM / 120:1)

I-Shape - TT Motor with Encoder (6V 160RPM / 120:1)

MODEL: FIT0450

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TT Motor with EncoderTT Motor with Encoder (6V 160RPM 120:1)TT Motor with Encoder (6V 160RPM 120:1)

Specification

  • Gear ratio: 120:1
  • No-load speed @ 6V: 160 rpm
  • No-load speed @ 3V: 60 rpm
  • No-load current @ 6V: 0.17A
  • No-load current @ 3V: 0.14A
  • Max Stall current: 2.8A
  • Max Stall torque: 0.8kgf.cm
  • Rated torque: 0.2kgf.cm
  • Encoder operating voltage: 4.5~7.5V
  • Motor operating voltage: 3~7.5V (Rated voltage 6V)
  • Operating ambient temperature: -10 ~ +60℃

Pin Description

Grade Name Functional Description
1 Motor power supply pin + 3-7.5V，Rated voltage6V
2 Motor power supply pin -  
3 Encoder A phase output Changes square wave with the output frequency of Motor speed
4 Encoder B phase output Changes square wave with the output frequency of Motor speed(interrupt port)
5 Encoder supply GND  
6 Encoder supply + 4.5-7.5V

Tutorial

Requirements

  • hardware
    • Arduino UNO x1
    • DC power supply x1
    • L298 2x2A Motor Shield for Arduino Twin x1
  • software
    • Arduino IDE Download Arduino IDE

Connection Diagram

This tutorial is about Encoder usage. We are using D2&D3 as driving pins, you can select other ones, but it requires at least 1 interrupt pin. (We selected D2, Interrupt 0 in this tutorial).

Interrupt Port with Different Board

Notice: attachInterrupt()

If using an Arduino UNO and you want to use interrupt port 0 (Int.0), you need to connect digital pin D2 on the board. The following code is only used in UNO and Mega2560. If you want to use Arduino Leonardo, you should change digital pin D3 instead of digital pin D2.

See the link for details http://arduino.cc/en/Reference/AttachInterrupt

Sample Code 1

//The sample code for driving one way motor encoder
const byte encoder0pinA = 2;//A pin -> the interrupt pin 0
const byte encoder0pinB = 3;//B pin -> the digital pin 3
byte encoder0PinALast;
int duration;//the number of the pulses
boolean Direction;//the rotation direction


void setup()
{
  Serial.begin(57600);//Initialize the serial port
  EncoderInit();//Initialize the module
}

void loop()
{
  Serial.print("Pulse:");
  Serial.println(duration);
  duration = 0;
  delay(100);
}

void EncoderInit()
{
  Direction = true;//default -> Forward
  pinMode(encoder0pinB,INPUT);
  attachInterrupt(0, wheelSpeed, CHANGE);
}

void wheelSpeed()
{
  int Lstate = digitalRead(encoder0pinA);
  if((encoder0PinALast == LOW) && Lstate==HIGH)
  {
    int val = digitalRead(encoder0pinB);
    if(val == LOW && Direction)
    {
      Direction = false; //Reverse
    }
    else if(val == HIGH && !Direction)
    {
      Direction = true;  //Forward
    }
  }
  encoder0PinALast = Lstate;

  if(!Direction)  duration++;
  else  duration--;
}

Code 1 phenomenon:

Explanation: Serial data, when the motor forward, the output value> 0, when the motor reverse rotation, digital output <0. The faster the motor speed, the greater the absolute value of number.

FIT0450_data_out.png

Sample Code 2

PID control： PID algorithm to control the motor speed by L298P DC motor driver board

  1. Motor power port is connected to the L298 drive motor M1 port
  2. Download and install Arduino PID
//The sample code for driving one way motor encoder
#include <PID_v1.h>
const byte encoder0pinA = 2;//A pin -> the interrupt pin 0
const byte encoder0pinB = 3;//B pin -> the digital pin 3
int E_left =5; //The enabling of L298PDC motor driver board connection to the digital interface port 5
int M_left =4; //The enabling of L298PDC motor driver board connection to the digital interface port 4
byte encoder0PinALast;
double duration,abs_duration;//the number of the pulses
boolean Direction;//the rotation direction
boolean result;

double val_output;//Power supplied to the motor PWM value.
double Setpoint;
double Kp=0.6, Ki=5, Kd=0;
PID myPID(&abs_duration, &val_output, &Setpoint, Kp, Ki, Kd, DIRECT);

void setup()
{
  Serial.begin(9600);//Initialize the serial port
   pinMode(M_left, OUTPUT);   //L298P Control port settings DC motor driver board for the output mode
   pinMode(E_left, OUTPUT);
   Setpoint =80;  //Set the output value of the PID
   myPID.SetMode(AUTOMATIC);//PID is set to automatic mode
   myPID.SetSampleTime(100);//Set PID sampling frequency is 100ms
  EncoderInit();//Initialize the module
}

void loop()
{
      advance();//Motor Forward
      abs_duration=abs(duration);
      result=myPID.Compute();//PID conversion is complete and returns 1
      if(result)
      {
        Serial.print("Pluse: ");
        Serial.println(duration)