Blog 5 | Qimeng Liu

 Moving the Bin bot

In today's blog, we fix the problem in the last blog. And move the bin bot with motor control, battery and MCU successfully.
The successful vedio is shown below:


The video link is shown below:video link
It is showing that different state output different PWM signal from MCU to Motor controller to controller the wheel.

The datasheet

The motor controller is Sabertooth 2x12. The datasheet is shown below: motor controller datasheet

Sabertooth 2x12 is a dual motor driver for controlling two DC motors. It supports 6–24 V, delivers up to 12 A per channel, and is widely used in robotics and embedded projects.


There are 10 different PINs in the motor controller: 

    M1A, M1B: output to Motor 1
    M2A, M2B: output to Motor 2
    S1, S2: control signal inputs (PWM)
    B+, B-: battery / power supply input
    5V: 5 V output from the MCU
    0V: ground from MCU


There are 6 Switches of control different mode:
    Switch 1: DOWN
    Switch 2: UP -- Select R/C input mode
    Switch 3: UP -- Lithium cutoff disabled, usually for NiMH/NiCd, alkaline, or power supply.
    Switch 4: Down -- Independent mode: S1 controls Motor 1, S2 controls Motor 2.
    Switch 5: UP -- linear response
    Switch 6: DOWN -- Microcontroller mode: disables timeout failsafe and auto-calibration.

The signal measurement

These the screenshots of the motor control PINs from Oscillator scope. 

0V PIN



5V PIN





The S1 and S2 are both PWM signal to control the wheel forward or backward.

S1 PIN



S2 PIN 



BP PIN

The BP measurement is from Multimeter, the value is 12.09V , the diagram is shown below:


Problem 

In this process, I meet many problems with my teammates. But we fixed all of them and got a great result.












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