Simple Arduino DC Motor Control with Encoder, Part 2

RE: Simple Arduino DC Motor Control with Encoder, Part 2

gprad — Tue, 04 Aug 2020 05:43:21 GMT

A very good and detailed work. I am a hobbyist and not an electronics expert. I was going through the code and need clarification on how input is calculated in Hz.

The equation you have used is inputX = (float) INT_COUNT * 1000 / (float)(nowTime - startTimeA);

The equation I know from Google is Frequency = (RPM X Line Count/60)

Can you pls elaborate?

RE: Simple Arduino DC Motor Control with Encoder, Part 2

DAB — Mon, 06 Jan 2020 22:01:35 GMT

Good update.

DAB

RE: Simple Arduino DC Motor Control with Encoder, Part 2

genebren — Mon, 06 Jan 2020 16:26:36 GMT

Frank,

Very interesting work! The results are looking very promising. Just as a side note, it would seem that you could also keep a running count of the encoder pulses for each motor using a simple interrupt and make a correction (adjust pwm) when the counts differ. As you start commanding the motors to spin and different speeds (perform turns or such) the PI controller will not be very useful.

Keep up the good work!

Gene

RE: Simple Arduino DC Motor Control with Encoder, Part 2

dubbie — Mon, 06 Jan 2020 15:05:43 GMT

This looks very good. At some point in the future (after all the Christmas present robots have been built and played with) I will have to come back to this and try it for myself.

Dubbie

RE: Simple Arduino DC Motor Control with Encoder, Part 2

Jan Cumps — Mon, 06 Jan 2020 11:44:53 GMT

I've been working with the exact same PID library MSP432 and TI-RTOS: PID Library Part 1 - Intro .

We also reviewed PID as a way to control current in our electronic load but it tends to overshoot before reaching its stability. For a load that isn't good. We used an opamp integrator instead.