This is a smart motor driver designed to run a Pololu micro gearmotor, the objective of this board is to be able to implement a PID control over this motors with the corresponding RPM feedback using a hall effect sensor. So it must have his own microcontroller and H bridge to be capable of do the work by itself.
The host microcontroller (or any system that can use I2C) will communicate by I2C in order to give the commands to the smart driver module, this includes speed and direction of the motor. The module will automatically implement the PID to maintain the speed and apply more/less power in the motor to archive that.
Also the control module will be capable of driving the motor for a desired distance and then stop when is reached. For doing that you must specify the diameter of your wheel and the gearbox relation.
To sense the speed of the motor we will be using a magnetic encoder disk, it is polarized along the surface of the disk. So the hall effect sensor can detect the changes in the magnetic field of the disk and send the signal to the microcontroller. Then using the timer and interrupts we will calculate the RPM of the motor in second plane, so the microcontroller is free to run a PID control algorithm and handle the communication with the host.
The main idea is to use it in robots, so by using this modules to control the wheels of the robot it can be possible to make precise movements no matter the surface or the battery charge!!!
Also it protects the gears from stripping due to a sudden acceleration and will protect battery power robots to trip the protection circuit caused by a current rush.
This is a project under development, so please follow me get updates :) This will be an open source project, so if you have any ideas to improve it you are welcome!
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