Motor Controller Board Sample Clauses

Motor Controller Board. ‌ The Motor Controller Board (Figure 8) will manage the robot locomotion. It will receive orders from the high-level robot navigation computer and return the information from the encoders. The Master Motor Controller uses a PIC18F6527 microcontroller to control and manage all the communication between the high-level robot navigation computer and the Slave PI Motor Controllers. The Slave PI Motor Controller uses a PIC18F2431 microcontroller to control the motor drivers. The Master Motor Controller will be executing the following tasks: • running low-level control loops to check for critical changes in the motor system that can affect the robot operation; • providing a I2C bus observer to check the information received from the I2C slave devices, detecting any failure in the communication or in the devices; • verifying the proper operation of each Slave PI Motor Controller by exchanging status information with them; • controlling the motors and drivers temperature while controlling the power of their cooling fans; • monitoring the power supply; • measuring the motors current. The Slaves PI Motor Controllers will be executing the following tasks: • receiving velocity references from the Master Motor Controller; • reading, periodically, the encoders pulses; • sending the encoders counts to the Master Motor Controller; • calculating the error between the velocity reference and the measured velocity; • implementing a PI controller to calculate the motor actuation; • implementing an anti-windup error limit; • implementing a velocity reference and acceleration/deceleration profile; • nullifying the motor dead-zone effect; • limiting the maximum velocity of the motors.
Sample 1
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