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Posted on Feb 7, 2014

The photo depicts a completed (bread-barded) locked anti-phase motor controller using general purpose transistors, which allows you to control small DC motors for robotics applications. The big picture problem is that a normal DC motor controller does not have the `braking` function, which allows for precise control. Solving this partially or comp


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letely is important because precise motor control is needed in robotics applications, and where cost is a factor. A DC motor is fairly cheap, dependent on size, compared to other types of motors. This tutorial shows you how to bread-board the motor controller hardware, and program the Netburner to output the lcked anti-phase PWM. It takes approximately 3 hours to complete. This tutorial`s motivation is to use the Embedded Netburner MOD5213 to control a DC motor for small robotics applications. Readers of this tutorial assumes the reader has the following background and interests: *If your computer does not have a 9 pin RS-232 Serial port, you will need to purchase a USB Adapter. They can be found almost anywhere on the internet, or in a computer store near you. Before we actually begin the motor controller, there are a few things that need to be addressed first. What is an H-Bridge, and what does it do (and) What is a locked anti-phase motor driver, and how does it work First of all, an H-bridge is a basic motor controller in which 4 transistors are configured with a motor to allow full forward and reverse of the motor, rather than just one direction. As you can see in the figure below, how the motor controller gets its name. In order to drive the motor forward, transistors Q1 and Q3 must be driven (while Q2 and 4 are OFF). To drive the motor in reverse, Q2 and 4 should be driven, while Q1 and Q3 should remain off. This...




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