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I also have the feedback input selectable between 4 potentiometers and 4 quadrature encoders, as also requested, by using again dip switches.
The major features are:
- 10bit (1024) motor speed resolution
-4 actuators/motors support
-4 full PWM channels
-4 servo signal outputs
-4 encoder inputs (implemented on a second extension board soon)
-4 potentiometer inputs (that sets the max travel angle and the proportional speed.)
-LCD support (not yet decided its use, maybe LCD menu for settings)
-4 trim potetiometers (for various settings or buttons for the LCD menu)
(EDIT: I HAVE NEW IMPROVED PCB PLANS FOR THE AMC1.5 HERE: post7978.html#p7978 )
Below you can see the layout I made to be able to follow the RN-VN2 connection standards. PCB plans are included to built this board if you want. Over this layout I’ll add the rest software features to make it able to fit to every type of motion simulator. Other PWM motor controller can be used too since they use the same basic connections (PWM, Enable1, Enable2) just different layout of the connection stripe.
AVRmotionsimulatorcontroller1_5_aa.pdf- (862.52 KiB) Downloaded 4120 times
And here is only the bottom side layout:
avrmotionsimPCBbottom_only_1_5_a.pdf (100.25 KB)Here is the new part list for version 1.5 of the AVR controller PCB:
- avrmotioncontrollerparts1_5c.pdf
- (812.02 KiB) Downloaded 2547 times
And here in text format only:
AVRmotioncontrollerpartlist1_5c.txt- (2.28 KiB) Downloaded 1578 times
Notice: If you can't find the molex connectors or you found them in too high prize, you can use pairs of simple DIP pin headers in place of the base connector or to create the data cable between avr controller and RN-VN2 motor controller. But you have to be carefull about the orientation of the connection if you plug - unplug them often. One full set of molex connectors for an AVR controller PCB, costs around 3.30 euro (14 connectors, male/female)... at least, this prize I buy them localy in Greece...
I also prepared a new AVR motion controller v1.5b layout that contains additional circuits to handle four external H-bridges if you own a commercial type ones:
AVRmotionsimulatorcontroller1_5b.pdf (375.17 KB)AVRmotionsimulatorcontroller1_5b_botttom.pdf (50.77 KB)AVRmotionsimulatorcontroller1_5b_botttom_filled.pdf (73.06 KB)Its the same as version v1.5 in dimensions except from the extra PCB in the bottom that contains the simple H-bridge driving circuits.
And in case that you already ordered a AVR motion controller v1.5 layout here is a separate extension PCB that has this extra circuitry to drive four simple H-bridges:
PWM_to_simple_hbridge_dual.pdf (121.09 KB)PWM_to_simple_hbridge_dual_bottom.pdf (28.12 KB)--------------------------------------------------------------------------------
Some technical details about the AVR motion controller:
Motor 1,2 run on 9bit PWM on 23,47Khz (9bit = 512)
Motor 3,4 run on 8bit PWM on 23,47Khz (8bit =256)
Has 8 ADC channels with 10bit resolution (10bit=1024)
Actually I drive the motor on 10-bit resolution! 0-511 for one direction of the motor and 512-1023 for the other direction!!! Same double resolution is used for motors 3,4 (9-bit)!
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Here is a schematic on how to do wirings for two RN-VN2 controllers to support 4 motors in the future... Only the first header in used for now.
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FIRMWARE 1.0
This is the first official release v1.0. It replaces all the previous beta versions!
For this reason I included the code for the two motion styles (Joyrider & SimforceGT) in it, and made it selectable between them with a jumper.
But his isn't the only feature. I also decided to give to the users the ability to change the servo motor KP proportiality values thru simple terminal connection:
Anyway you can read all about it in the manual I made for it:
- PWM_AMC15_2DOF_v1_manual.pdf
- (619.62 KiB) Downloaded 2786 times
And of course the firmware that cames in four files, each one for the crystal speed you are using:
PWM_AMC15_2DOF_v1 firmware.zip- (20.38 KiB) Downloaded 1622 times
I connected a simple pot on directly on the motor axis and had enough precision on positioning without much ringing. So using multiturn pots is not always necessary.
You can connect two dual h-bridge motor controllers on it and control four motors but with a small restriction. The last two motor channels will run on 8bit PWM. This is a restriction of the Atmega8535, as it has only one 16bit timer that is shared on the channels for the two first motors. Anyway 8bit PWM isn’t that bad and can be used in heave or rotation that precision isn’t so critical.
Some description of the features of that Firmware v1.0 has:
-It uses only the first two motors for now: The pin header on the bottom (named rn-vn2) that can be connected to the JP1 header of an dual h-bridge motor controller.
-It uses only two the first two pots. Pot1 is position feedback for the motor1 and Pot2 is position feedback for the motor2.
-Don’t forget to align the position pots with the motor or the motion travel route to successfully have position feedback.
-When powered both motors should move to center position. If not immediately disconnect the power and reverse the motor +,- connections to turn to the opposite.
-It runs on serial speed of 115200 and you have to enter the setting of the following photo in the profiler USO to get it connected right:
The format of the output string is “AB~255~~y~~x~”
The ~255~ is there for compatibility reasons to be able to also test with Ian’s BFF 3DOF driver!!
Since the AVR controller has its own serial programmer included (ISP) you can use ponyprog to easily program the flash firmware on it and set the proper fuses for the crystal speed. You can see on the bottom of this post how you can use ponyprog.
I also developed the SimforceGT (frex-like) motion included in this version for Egoexpess and everyone else with simular motion cockpit!!!
Notice: This is a coupled motion version for two motors. Meaning the two motors are cooperate to lean to sides and back-forward.
Motor assignments are as follow:
Motor1 connection (on first DSMhb) is the right motor on the simulator.
Motor2 connection (also on first DSMhb) is the left motor on the simulator.
Again potentiometers are used for feedback on the motors: Motor1 --> Pot1 , Motor2 --> Pot2
The motion is limited in half for left-right as I reserved the rest motion capability for front-back motion!
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NOTICE TO ALL: This is still a BETA version and I’m not held responsible of any damage happens to your motors, simulator structure, you, etc. Use it on your own Risk!! You should know that motion simulators can be very dangerous if not handled with care!
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In case you don't know how to program the firmware on it, here is a small guide on how to use Ponyprog2000 to program the board:
Thanos_ponyprog_guide1_1.pdf (500.13 KB)--------------------------------------------------------------------------------
If you are looking for a suitable alternative of RN-VN2 you can use this:
"Part#0708, Dual VNH2SP30 motor driver carrier"
http://www.pololu.com/products/pololu/0707/
And here is a schematic of the wirings you need to do to use the Polulu motor driver:
Its Yobuddy's design with a minor fixes on the pots connection.
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Another solution instead of buying a ready commercial motor controller is to make yourself the H-bridges to fit them on the amp/voltage rate of your motors. Then you can build this DIY Dual simple H-bridge motor controller!
You can learn more about it here:
http://www.x-simulator.de/forum/tronic-s-diy-dual-mosfet-h-bridge-t820.html
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I decided to make some video guides to help people understand the basics about my AVR motion controller.
I have made four video parts so far, that shows the cable connections, the ponyprog programming procedure, and the connection with x-sim software.
Here is the link to download all these videos:
http://rapidshare.com/files/106829488/AMC_video_guides_parts1_to_4.zip
Thanos
Greece, Athens
)
Germany - Frankfurt/M
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