P10203: LV1 Motor Controller. Mission Statement: To reduce cost of the previous RP1 Motor Controller created by P09204 while also improving performance and aesthetics of the design. Motivation: - PowerPoint PPT Presentation
Text of Project Description:
Slide 1Project Description:
Design a motor controller device that interfaces with the LV1
Platform Integration Project (P10201), LV1 Motor Module
Manufacturability Project (P10202), and LV1 Wireless Command and
Control System (P10205) in order to create a modular robotics
platform for use in a classroom environment as a learning
To reduce cost of the previous RP1 Motor Controller created by
P09204 while also improving performance and aesthetics of the
Designed Power Distribution and Motor Driver Board:
The Power Distribution and Motor Driver Board is a PCB Designed by
members of P10203. It implements four elements of the RP1 project
on one board.
The 5V logic regulator takes in the 7.4V (nom) input voltage from
the Chassis Battery and converts it into a 5V logic level for use
by the processing units of the controller, (BD Micro and Arduino
The 6V servo regulator takes in the 7.4V (nom) input voltage from
the battery and converts it into a 6V output level that is used by
the servo motors of the Motor Modules.
- The two Bidirectional Motor Driver circuits are identical
H-Bridge designs that take an input pulse width modulated signal
from the PID controller and amplify it to voltage levels suitable
for use by the DC Drive motors.
The Arduino Nano PID controller is connected to this board via two
15 pin SIP connectors. All utilized motor driver signals are routed
through the board to their appropriate locations in order to reduce
the number of board to board wires required internally to the
- Both this designed board and the BD Micro Development board are
mounted to a bracketed base plate which is attached to the
Atmel ATmega128 MCU , 128K Program FLASH, 4K Static RAM, 6 R/C
Servo Headers, up to 51 digital I/O pins, Small size at 2.2 x 3.6
Dr. Walter (ME)
P10203: LV1 Motor Controller
The controller design is cost effective compared to the RP1.
The controller is able to make the platform move with agility and
The controller is modular and can be configured in several
different options to support varied functionality.
The controller is able to interface with the other modules of the
- The controller improves upon the aesthetics of the RP1.
The Land Vehicle Platform for 1 kg payloads (LV1) is a robotic
assembly and physical platform built for the purpose of expediting
the construction of high level engineering projects.
Frequently, large amounts of time and effort go into engineering
practices to build a robotic platform as a basis for more complex
designs. The intention of this family of projects is to produce a
series of modular, manufacturable and cost efficient vehicles to be
implemented in a number of engineering applications.
Design Specifications to Meet Needs:
The new controller design implements all of the RP1 elements on two
main printed circuit boards rather than the 6 previously used. This
greatly reduces the overall cost
The controller makes use of a predefined code set in order to
establish a link with the user interface. The controller itself
also has low command throughput latency.
The controller consists of two main boards that can be reconfigured
on the chassis as desired. Thus the center of gravity can be
altered as needed for different applications.
The controller interfaces with the chassis for power and the
wireless link for command input. It then interprets commands and
sends them to the motor modules to establish movement.
By reducing the total number of controller PCB, internal wiring of
the controller is reduced by 75%, making it neater and less prone
to operator error.
BD Micro Mavric IIB
The BD Micro development board is an open source Microcontroller
Board based on the Atmel ATMega 128 MCU. This device interprets
commands provided by the User Interface and sends them to the rest
of the board.
Arduino Nano Development Board:
The Arduino Nano is an open source microcontroller that functions
as a PID controller. It uses a PID algorithm to monitor encoder
feedback to control and adjust motor speed. The PID controller
directly controls all servos, PWM drivers for the DC motors, and
monitors encoder feedback. It communicates with the Processing
Subsystem using the I2C bus controller.
Results and Conclusions:
Performance of the Motor controller is equivalent to that of the
RP1 with a 20% decrease in overall cost of components.
- Wiring reduction has made debugging and setting up the controller
The Arduino Nano PID Controller has been upgraded to a new model.
This has increased the amount of memory on the device while
decreasing the cost by 30 %.
The Servo Regulator IC has been replaced by a more efficient linear
regulator from the RP1, making it more power efficient to increase
The controller is able to interface with the battery and wireless
team at the front end as well as two motor modules at the back end.
A command from the GUI is sent over the controller and interpreted
into motor motion, (speed and direction).
The PID algorithm for interpreting encoder feedback could be
written into code and implemented on the MCU development
The PID mounting issue could be resolved to improve external wiring
to the device. As of now, wires must be soldered to the bottom of