2DOF Arduino controller with integrated H-Bridge

Hello everybody,
I am pleased to show you my 2DOF Joyrider controller using an Arduino interface.
This controller has an integrated H-Bridge based from the Thanos (Tronicgr) Dual Mosfet H-Bridge (all credit goes to him :clap: ).

This controller is composed of :

-An Arduino Uno to communicate with the computer
-2 plugs (ground,signal, +5V) for position sensors (10K potentiometers)
-1 plugs for an emergency button (using the interrupt pin (pin 2) of the Ardunio
-2 H-Bridges to supply the two axis motors

Here is a video where I am testing the controller by rotating in 2 different ways
http://www.youtube.com/watch?v=vIm0q84zlrg
Here is a video where I am testing the controller with a potentiometer (acting as a speed regulator) and the emergency button.
http://www.youtube.com/watch?v=yF9FLZGv9No

Hope you like it, I try to give you the circuit model asap, feel free to ask questions.

Cheers

can you please post some code and a tutorial, i have been trying this stuff for months and nothings working

absolutely excellent.

love the design.

Would also love to see the code.

Hi
I updated the post : I added the mask and the components map.

to daymoney13 :
I haven't yet a code with a PID because I am making the setup with a wiper motor, once done I will start to code.
The controller works like a standard h-bridge; you have 3 pins to control a motor (2 for the direction A and B, 1 for the speed called PWM).
The Motor 1 is controlled by the pins : A = pin 3, B = pin 4, PWM = 5
The Motor 2 is controlled by the pins : A = pin 8, B = pin 9, PWM = 10

To use it you could code a class like that :
(code not tested and could be faster by using direct bus control, but anyway...)

Code:

class Motor
{
  public :
    Motor(int Pin_E, int Pin_MA, int Pin_MB)
    {
      E= Pin_E;
      MA =Pin_MA;
      MB =Pin_MB;
      
      pinMode(MA, OUTPUT);
      digitalWrite(MA, LOW); 
      pinMode(MB, OUTPUT);
      digitalWrite(MB, LOW);       
      pinMode(E, OUTPUT);
  
      setspeed(255);

    }
   
   void setspeed(int mspeed)
   {
      analogWrite(E, mspeed); 
   }
   
   void stopper()
   {
     digitalWrite(MA, LOW); 
     digitalWrite(MB, LOW);
     compteur =0;
   }
   
   void marche(bool Direction)
   {
      stopper();
      if(Direction)digitalWrite(MA, HIGH);
      else digitalWrite(MB, HIGH);      
   }
   
   private :
   int E,MA,MB;  
   
};

then you use it like that :

Code:

Motor motor1(10,8,9); //intialisation

motor1.setspeed(150);
motor1.marche(true);

hope this little code help you.

PS: if somebody know how can I make the youtube video works?

thanks ! i cant wait !

Hello everybody,

I just post a new video of my wiper-testing-machine.

http://www.youtube.com/watch?v=qDH5WK3ajzQ

Here you can see the rotation speed versus the duty of the PWM.

Just a new video of my testing machine using Flight Simulator + XSim.

http://www.youtube.com/watch?v=MZLgtIKqRMI

This video shows my controller using a servo loop. As the movements are quite slow I just code a P regulator (instead of a PID).
Soon I will add the source code.

Here is the source code I used in the previous video, probably not the most efficient but it works :

Code:

////////////////// Arduino controller V0.1 15/04/12  ///////////////
///  coded by : intructable                                      ///
///  under public domain                                         ///
////////////////////////////////////////////////////////////////////

#include <PID_v1.h>

// motor 1
#define M1PWM 5
#define M1A 4
#define M1B 3

// motor 2
#define M2PWM 10
#define M2A 9
#define M2B 8

//Motor constante
//PWM value when the motor sart to move
#define MINPOWER 110

//sensors
#define SENSOR1 4
#define SENSOR2 5

//sensors range
#define S1MIN 350
#define S1MAX 680

//Emergency button
#define EMERGENCYBUTTON 0

//Serail command
#define COMMAND_SIZE 128
char aWord[COMMAND_SIZE];
int nb_char=0;
char c;

//PID controller, actually a P controller (ei I =D =0)
double Setpoint, Input, Output;
double P=1;

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//Motor class
// function : 
//          Motor(int Pin_E, int Pin_MA, int Pin_MB)      creator
//          void setspeed(int mspeed)                     change the motor speed from -255 to 255
//          void stopper()                                stop the motor
//          void marche(bool Direction)                   change the motor direction

class Motor
{
  public :
    Motor(int Pin_E, int Pin_MA, int Pin_MB)
    {
      E= Pin_E;
      MA =Pin_MA;
      MB =Pin_MB;
     
      pinMode(MA, OUTPUT);
      digitalWrite(MA, LOW);
      pinMode(MB, OUTPUT);
      digitalWrite(MB, LOW);       
      pinMode(E, OUTPUT);
 
      

    }
   
   void setspeed(int mspeed)
   {  
     stopper();
     if(mspeed<0)
     {  
        mspeed=-mspeed;       
        marche(false);
     }
     else
     {
        marche(true);
     } 

     analogWrite(E,map(mspeed,0,255,MINPOWER,255));     
   }
   
   void stopper()
   {
     digitalWrite(MA, LOW);
     digitalWrite(MB, LOW);
   }
   
   void marche(bool Direction)
   {
      stopper();
      if(Direction)digitalWrite(MA, HIGH);
      else digitalWrite(MB, HIGH);
      dir = Direction;     
   }
   
   private :
   int E,MA,MB;
   bool dir;
   
};


/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

Motor motor1(M1PWM,M1A,M1B);  //create a motor

void setup()
{ 
  Serial.begin(9600);             //start serial comunication
  Serial.println(Demarrage);    //hello world
  
  TCCR0B =TCCR0B &0b11111000 | 0x01; //change PWM frequency to avoid noise
  
  attachInterrupt(EMERGENCYBUTTON, emergencyStop, CHANGE); //attach the emergency button to the emergency function
  
  motor1.stopper(); //stop the motor 1
  
  Setpoint =127; // set the setpoint to the medium value

  
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////


void loop()
{

  serialread(); //read command, it understands command in the format A00 X~a01~~13~ with ~a01~ a decimal value from 0 to 255
  
  Input = analogRead(SENSOR1); // read the potentiometer value
  Input = map(Input,S1MIN,S1MAX,0,255); // convert the value in the range of the potentiometer, 0=min amplitude, 255=max amplitude
  
  Output = P*(Setpoint-Input); //regulate with a proportional controller
  motor1.setspeed(Output); //set the motor speed

  delay(64*2); //wait 2 ms, the delay must be multiplied by 64 because we changed the TCCR0B timer value of the arduino
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void emergencyStop()
{ 
    motor1.stopper(); // in case of emergency we stop the motor
    
    while(true) // and go into an infinite loop, so the user need to restart the arduino
    {
      
    }
 
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void serialread()
{
  
    if (Serial.available() > 0) //check for new character
    {
      c = Serial.read(); //store the character
      
      if(c!=13 && nb_char<COMMAND_SIZE) //if not the end of a command, store it into aWord
      {
        
        aWord[nb_char] =c;
        nb_char++; 
      }
      else                              //if yes, start the command function
      {      
        command(aWord,nb_char);  
        nb_char =0;                     // clear aWord
        aWord[nb_char] ='\0';        
        Serial.flush();                 //flush the Serial
      } 
    } 
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

char entete[4];
bool ok=true;

void command(char * cmd, int nb_char)
{
  ok=true;                            //if something goes wrong, ok is pull to wrong
  if(nb_char<3)                       //the command should have at least 3 characters
  {
     return;
  }
  
  for(int i =0; i<3;i++)              //store the header of the command
  {
    entete[i]= cmd[i];
  }
  entete[3]='\0';
  
  //////////////////////////////////////////////////////////////////
  if(strcmp(entete,A00)==0)        //if the header is A00
  {
     
     int X= getvalue(cmd,  nb_char, 'X', &ok); //read the value after X
     
     if(ok)
     {
        X=X*8-896; //we multiplie the value by 8 to improve the sensation, could be done in XSim
        if(X<0)X=0; //we check is X is not to low
        if(X>255)X=255; //or to high
        Setpoint =X; //we store the new setpoint
        
     }
    
    
  }
  else  
  {

  }
   
}


/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

int getvalue(char *cmd, int nb_char, char c, bool *ok) //this function store the decimal value written after the character c
{
   int i=0, j=0;
   char value[COMMAND_SIZE];
   while( i<nb_char)
   {
     if(cmd[i] == c)break; //find the place where th character is
     i++;
   }
   
   i++;
   
   
   while( i<nb_char&& cmd[i] != ' ') //search for any blank
   {
    value[j] =cmd[i];//store the value
    i++;j++;
   }
   if(j == 0) *ok=false;
   value[j]='\0';
   
   return atof(value); //convert into an integer
}

can you post the electronic componente list? thank and a very nice work, good job

Sure,

The parts list is quite the same than Tronicgr's HBridge :

from the thanos list (I removed the unneeded parts) :

+

1x - 100 Ohm 1/4 watt resistor 1%
1x - 10K Ohm 1/4 watt resistor 1%

1x - Terminal connectors (two legs) atleast 15amp rated on 125volt
2x - Terminal connectors (three legs) atleast 15amp rates on 125volt

2x 8 pinhead
2x 6 pinhead

1x Arduino UNO (of course)


Cheers

thanks I'll build one for me , very nice work :clap:

good job !!!! keep going I believe in you !

hey instructable can you post a tutorial on how to test your code ? I uploaded it to my arduino but now im stuck with the x sim software.

thanks

hi daymoney,

To try my code you have to start X-Sim Profiler and X-Sim Sender (I recommend you to launch the Testplugin instead of a real game).

On the Math Setup add a new axis (or two if you have 2 degrees of freedom), you can check on Input which slot you can choose.

Then go to Output Setup, USO, then add the com address of your Arduino (for me com 8 )
Fill the line Datapacket with axisinformations: with A00 X~a01~~~13~
(or for a 2dof :A00 X~a01~ Y~a02~~13~)
Set the options as shown on this picture


Then press start.

I also recommend you to install VSPE, a program which allows you to create a virtual port.
You can then connect X-Sim to this port (while connected to your Arduino).
You can then check the commands sent by X-Sim by using the hyperterminal. (or Tera Term if you are on Win Seven).

I hope it help you, fill free to ask more precision.

hello thks for the list but where i use de R680ohm?????? You can get a picture with the sites of the components to be easier to solder the components. the image that has only the component type is not what amount. and now already not find resistances of 3.6K, only 3.3k / 3.9K whatDo you recommend ?
thank you and hug

hello timothy,
thanks for this post, actually I did not erase the 680ohm on the thanos component list, you won't need it for the controller.
I added a new picture with the resistor value, tell me if you need more informations.
For the 3.3K/3.9K, I not enough skilled to tell you what is the best solution. I recommend you to ask directly thanos.
If your provider can sell you 3.3k and a 300ohm resistor, you can use them in a serial way to get the good resistor value (this wouldn't be the most beautiful solution but a least it works perfectly)

I hope it help you, I look forward seeing you controller

Hi intructable,
Very god job. I'm building my simulator, following your instructions. Did you finish the code for arduino?, I tried to complete to work with 2 motors, but no luck, there is much noise in the second engine and does not move as it should.

Thanks!

Hi astro,
Nice to see that you are building the controller.
I have not worked on the arduino code since my friend started to build the seat. What would you like to add to the former arduino code?
To help you I will need more information :
Did you first try to swap the two motors to see if you get the same response with the other one?
What do you mean by does not move as it should?
Does the noise sound like a typical frequency or more or less like switching on and off rapidly?

Cheers

Hi intructable,
I try to explain better.
In your code, you start program for two motors, but at the end, is for one.
There are no commands for the second motor.
Like:
Motor motor2(M2PWM,M2A,M2B);
motor2.stopper();
The reading of the Y part.

So I try to complete. I don't understand PID, I am new in arduino so I'm sure I'm doing something wrong.

I think there is a problem when I use commands to see the variables in the monitor using VSPE, like:
Serial.print(pot1=);
Serial.print(pot1);
I think that is interfering in some way.

This is the code:

Code:

////////////////// Arduino controller V0.1 03/06/12  ///////////////
///  coded by : intructable                                      ///
///  mofified with a lot of errors by : astro  :(   sorry        ///
///  under public domain                                         ///
////////////////////////////////////////////////////////////////////

#include <PID_v1.h>


// motor 1
#define M1PWM 5
#define M1A 4
#define M1B 3

// motor 2
#define M2PWM 10
#define M2A 9
#define M2B 8

//Motor constante
//PWM value when the motor sart to move
#define MINPOWER 110

//sensors
#define SENSOR1 4
#define SENSOR2 5

//sensors range
#define S1MIN 188
#define S1MAX 768

#define S2MIN 288
#define S2MAX 720

//Emergency button
#define EMERGENCYBUTTON 0

//Serial command
#define COMMAND_SIZE 128
char aWord[COMMAND_SIZE];
int nb_char=0;
int pot1=0;
int pot2=0;
char c;

//PID controller, actually a P controller (ei I =D =0)
double Setpoint1, Input1, Output1;
double Setpoint2, Input2, Output2;
double P=1;

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///

//Motor class
// function : 
//          Motor(int Pin_E, int Pin_MA, int Pin_MB)      creator
//          void setspeed(int mspeed)                     change the motor speed from -255 to 255
//          void stopper()                                stop the motor
//          void marche(bool Direction)                   change the motor direction

class Motor
{
public :
  Motor(int Pin_E, int Pin_MA, int Pin_MB){
    E= Pin_E;
    MA =Pin_MA;
    MB =Pin_MB;

    pinMode(MA, OUTPUT);
    digitalWrite(MA, LOW);
    pinMode(MB, OUTPUT);
    digitalWrite(MB, LOW);       
    pinMode(E, OUTPUT);
  }

  void setspeed(int mspeed)
  {  
    stopper();
    if(mspeed<0)
    {  
      mspeed=-mspeed;       
      marche(false);
    }
    else
    {
      marche(true);
    } 
    analogWrite(E,map(mspeed,0,255,MINPOWER,255));     
  }

  void stopper()
  {
    digitalWrite(MA, LOW);
    digitalWrite(MB, LOW);
  }

  void marche(bool Direction)
  {
    stopper();
    if(Direction)digitalWrite(MA, HIGH);
    else digitalWrite(MB, HIGH);
    dir = Direction;     
  }

private :
  int E,MA,MB;
  bool dir;

};


/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////

Motor motor1(M1PWM,M1A,M1B);  //create a motor
Motor motor2(M2PWM,M2A,M2B);  //create a motor

void setup()
{ 
  Serial.begin(9600);      //start serial comunication
  Serial.print(START: );    //hello world

  TCCR0B =TCCR0B &0b11111000 | 0x01; //change PWM frequency to avoid noise

  attachInterrupt(EMERGENCYBUTTON, emergencyStop, CHANGE); //attach the emergency button to the emergency function

  motor1.stopper(); //stop the motor 1
  motor2.stopper(); //stop the motor 2
  
  ///////////CENTER//////////////////////
  Setpoint1 =127; // set the setpoint to the medium value
  Setpoint2 =127; // set the setpoint to the medium value
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///


void loop()
{

  serialread(); //read command, it understands command in the format A00 X~a01~ Y~a02~~13~ with ~a01~ a decimal value from 0 to 255

  Input1 = analogRead(SENSOR1); // read the potentiometer value
  Input2 = analogRead(SENSOR2); // read the potentiometer value
  pot1 = Input1; // read the potentiometer value
  pot2 = Input2; // read the potentiometer value

  Input1 = map(Input1,S1MIN,S1MAX,0,255); // convert the value in the range of the potentiometer, 0=min amplitude, 255=max amplitude
  Input2 = map(Input2,S2MIN,S2MAX,0,255); // convert the value in the range of the potentiometer, 0=min amplitude, 255=max amplitude

  Output1 = P*(Setpoint1-Input1); //regulate with a proportional controller
  Output2 = P*(Setpoint2-Input2); //regulate with a proportional controller
  motor1.setspeed(Output1); //set the motor speed
  motor2.setspeed(Output2); //set the motor speed
  
// Serial.println(Input); 
 Serial.print(pot1=); 
 Serial.print(pot1);
 Serial.print( | MapInput1=); 
 Serial.print(Input1); 
 Serial.print( | Target1=); 
 Serial.print(Setpoint1);
 Serial.print( | Move=); 
 Serial.print(Output1);

 Serial.print(\t | \t pot2=); 
 Serial.print(pot2); 
 Serial.print( | MapInput2=); 
 Serial.print(Input2);
 Serial.print( | Target2=); 
 Serial.print(Setpoint2);
 Serial.print( | OUT2=); 
 Serial.println(Output2);

  //Serial.println(Input2);     

  delay(64*2); //wait 2 ms, the delay must be multiplied by 64 because we changed thme TCCR0B timer value of the arduino
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///
void emergencyStop()
{ 
  motor1.stopper(); // in case of emergency we stop the motor
  motor2.stopper(); // in case of emergency we stop the motor
  delay(10);  
  while(true) // and go into an infinite loop, so the user need to restart the arduino
  {

  }

}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///

void serialread()
{

  if (Serial.available() > 0) //check for new character
  {
    c = Serial.read(); //store the character

    if(c!=13 && nb_char<COMMAND_SIZE) //if not the end of a command, store it into aWord
    {

      aWord[nb_char] =c;
      nb_char++; 
    }
    else                              //if yes, start the command function
    {      
      command(aWord,nb_char);  
      nb_char =0;                     // clear aWord
      aWord[nb_char] ='\0';        
      Serial.flush();                 //flush the Serial
    } 
  } 
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///

char entete[4];
bool ok=true;

void command(char * cmd, int nb_char)
{
  ok=true;                            //if something goes wrong, ok is pull to wrong
  if(nb_char<3)                       //the command should have at least 3 characters
  {
    return;
  }

  for(int i =0; i<3;i++)              //store the header of the command
  {
    entete[i]= cmd[i];
  }
  entete[3]='\0';

  //////////////////////////////////////////////////////////////////
  if(strcmp(entete,A00)==0)        //if the header is A00
  {
    int X= getvalue(cmd,  nb_char, 'X', &ok); //read the value after X
    int Y= getvalue(cmd,  nb_char, 'Y', &ok); //read the value after Y

    if(ok)
    {
      X=X*8-896; //we multiplie the value by 8 to improve the sensation, could be done in XSim
      Y=Y*8-896; //we multiplie the value by 8 to improve the sensation, could be done in XSim
      if(X<0)X=0; //we check is X is not to low
      if(Y<0)Y=0; //we check is X is not to low
      if(X>255)X=255; //or to high
      if(Y>255)Y=255; //or to high
      Setpoint1 =X; //we store the new setpoint
      Setpoint2 =Y; //we store the new setpoint
    }
  }
  else  
  {
  }
}


/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///

int getvalue(char *cmd, int nb_char, char c, bool *ok) //this function store the decimal value written after the character c
{
  int i=0, j=0;
  char value[COMMAND_SIZE];
  while( i<nb_char)
  {
    if(cmd[i] == c)break; //find the place where th character is
    i++;
  }

  i++;

  while( i<nb_char&& cmd[i] != ' ') //search for any blank
  {
    value[j] =cmd[i];//store the value
    i++;
    j++;
  }
  if(j == 0) *ok=false;
  value[j]='\0';
  return atof(value); //convert into an integer
}

The noise in the second motor is like high frequency and does not move.
I change all de components to the other side of H-bridge, to see if something is burn, but nothing change, everything seems to be ok.

I 'm using TestPlugin.
Can you post your screen Simple resize math setup?
This is what I have:


Can you test your motor in the other conector to see if working?

Sorry for my english.
Thanks!!!!

Hi intructable,
I'm trying to understand the code.
Do I need a line to change the frequency for the second motor, and the delay too?

What is this?
X=X*8-896;

896?
How I can get that number?

Sorry for my english.
Thanks!!!!