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PrinceNai
Joined: 31 Oct 2016
Posts: 452
Location: Montenegro
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| IBT-2 H-Bridge module with two BTS7960 chips |
 Posted: Fri Feb 24, 2023 11:01 am |
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I bought myself this module and gave it a try. Works as advertised 
| Code: |
/* IBT-2 H-Bridge module is a high power motor driver based on two BTS7960 chips.
It has 6 control pins:
R_IS forward drive alarm output - side current, not used
L_IS backward drive alarm output - side current, not used
R_EN forward drive enable, active HIGH
L_EN backward drive enable, active HIGH
R_PWM forward PWM or HIGH to rotate RIGHT
L_PWM backward PWM or HIGH to rotate LEFT
...............................................................
Control logic works from 3,3V to 5V.
...............................................................
Rotation (right and left are subjective):
R_EN and L_EN are both driven HIGH.
Two hardware PWM signals from PIC connected to R_PWM and L_PWM.
If RIGHT rotation is desired, L_PWM is LOW and PWM signal is fed to R_PWM.
If LEFT rotation is desired, R_PWM is LOW and PWM signal is fed to L_PWM.
Speed is somewhat proportional to PWM duty cycle.
Stop:
Both R_EN and L_EN driven low, PWM disabled on both streams.
...............................................................
*/
#include <18F46K22.h>
#device ADC=10
#FUSES NOWDT, NOPUT //No Watch Dog Timer, NOPUT for debug
// #FUSES PUT
#device ICD=TRUE
#use delay(internal=32000000)
#USE PWM(OUTPUT=PIN_C2, FREQUENCY=8005Hz, DUTY=0, stream = RIGHT, PWM_ON) // CCS complains on 8000Hz with resolution of 9,97 bits. This gives full 10 bit PWM resolution.
#USE PWM(OUTPUT=PIN_C1, FREQUENCY=8005Hz, DUTY=0, stream = LEFT, PWM_ON) // 8kHz PWM, period 125us
// ****************************************************************************
int16 SPEED = 0;
#DEFINE R_EN PIN_B0
#DEFINE L_EN PIN_B1
#DEFINE R_PWM PIN_C2
#DEFINE L_PWM PIN_C1
// *********************** FUNCTIONS **************************
void MOTOR_RIGHT(int16 SPEED_OF_MOTOR){
output_high(L_EN);
output_high (R_EN);
pwm_off(LEFT); // turn off LEFT PWM
output_low(L_PWM); // drive pin LOW
pwm_on(RIGHT); // start RIGHT PWM
pwm_set_duty_percent(RIGHT, SPEED_OF_MOTOR); // set PWM1 duty cycle percentage to SPEED, 0 - 1000
}
// ............................................................
void MOTOR_LEFT(int16 SPEED_OF_MOTOR){ // same as above, other direction
output_high(R_EN);
output_high (L_EN);
pwm_off(RIGHT);
output_low(R_PWM); // turn OFF right PWM
pwm_on(LEFT);
pwm_set_duty_percent(LEFT, SPEED_OF_MOTOR); // set PWM2 duty cycle percentage
}
// ............................................................
void MOTOR_STOP (void){
output_low(R_EN); // stop the motor
output_low(L_EN);
pwm_off(RIGHT);
pwm_off(LEFT);
}
// ******************* END OF FUNCTIONS ***********************
void main(){
while(TRUE){
// play some with the motor. If you use a big one, bolt it down :-)
SPEED = 0; // ramp up speed right and left
while (SPEED <= 1010){
MOTOR_RIGHT(SPEED);
SPEED = SPEED + 10;
delay_ms(50);
}
MOTOR_STOP();
delay_ms(50);
SPEED = 0;
while (SPEED <= 1010){
MOTOR_LEFT(SPEED);
SPEED = SPEED + 10;
delay_ms(50);
}
MOTOR_STOP();
delay_ms(50);
MOTOR_RIGHT(1000); // full-on right
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
MOTOR_LEFT(1000); // full-on left
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
MOTOR_RIGHT(500); // half speed right
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
MOTOR_LEFT(500); // half speed left
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
} // while TRUE
} // MAIN
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PrinceNai
Joined: 31 Oct 2016
Posts: 452
Location: Montenegro
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| Posted: Sun Feb 26, 2023 10:43 am |
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Added the ability to control the motor via a pot on AN0.
| Code: |
/* IBT-2 H-Bridge module is a high power motor driver based on two BTS7960 chips.
It has 6 control pins:
R_IS forward drive alarm output - side current, not used
L_IS backward drive alarm output - side current, not used
R_EN forward drive enable, active HIGH
L_EN backward drive enable, active HIGH
R_PWM forward PWM or HIGH to rotate RIGHT
L_PWM backward PWM or HIGH to rotate LEFT
...............................................................
Control logic works from 3,3V to 5V.
...............................................................
Rotation (right and left are subjective):
R_EN and L_EN are both driven HIGH.
Two hardware PWM signals from PIC connected to R_PWM and L_PWM.
If RIGHT rotation is desired, L_PWM is LOW and PWM signal is fed to R_PWM.
If LEFT rotation is desired, R_PWM is LOW and PWM signal is fed to L_PWM.
Speed is somewhat proportional to PWM duty cycle.
Stop:
Both R_EN and L_EN driven low, PWM disabled on both streams.
...............................................................
*/
#include <18F46K22.h>
#device ADC=10
#FUSES NOWDT, NOPUT //No Watch Dog Timer, NOPUT for debug
// #FUSES PUT
#device ICD=TRUE
#use delay(internal=32000000)
#USE PWM(OUTPUT=PIN_C2, FREQUENCY=8005Hz, DUTY=0, stream = RIGHT, PWM_ON) // CCS complains on 8000Hz with resolution of 9,97 bits. This gives full 10 bit PWM resolution.
#USE PWM(OUTPUT=PIN_C1, FREQUENCY=8005Hz, DUTY=0, stream = LEFT, PWM_ON) // 8kHz PWM, period 125us
#use rs232(UART1,baud=19200, bits = 8, parity=N,stream = DEBUG,errors) // output RAW ADC readings
// ****************************************************************************
#DEFINE R_EN PIN_B0
#DEFINE L_EN PIN_B1
#DEFINE R_PWM PIN_C2
#DEFINE L_PWM PIN_C1
// ********************** VARIABLES ***************************
int16 SPEED = 0; // desired speed of the motor, 0 - 1000
int16 ADC_VAL = 0; // ADC reading
signed int32 Temp = 0; // used to transform ADC readings to speed and direction info
// *********************** FUNCTIONS **************************
void MOTOR_RIGHT(int16 SPEED_OF_MOTOR){
output_high(L_EN);
output_high (R_EN);
pwm_off(LEFT); // turn off LEFT PWM
output_low(L_PWM); // drive pin LOW
pwm_on(RIGHT); // start RIGHT PWM
pwm_set_duty_percent(RIGHT, SPEED_OF_MOTOR); // set PWM1 duty cycle percentage to SPEED, 0 - 1000
}
// ............................................................
void MOTOR_LEFT(int16 SPEED_OF_MOTOR){ // same as above, other direction
output_high(R_EN);
output_high (L_EN);
pwm_off(RIGHT);
output_low(R_PWM); // turn OFF right PWM
pwm_on(LEFT);
pwm_set_duty_percent(LEFT, SPEED_OF_MOTOR); // set PWM2 duty cycle percentage
}
// ............................................................
void MOTOR_STOP (void){
output_low(R_EN); // stop the motor
output_low(L_EN);
pwm_off(RIGHT);
pwm_off(LEFT);
}
// ............................................................
int16 READ_AN0 (void){
int16 val;
set_adc_channel(0);
delay_us(3);
val = read_adc(); // values from 0 - 1023
fprintf(DEBUG, "\n\rADCraw:%lu", val); // print raw ADC values to debug port
return val;
}
// ******************* END OF FUNCTIONS ***********************
void main(){
//TAD must be at last 1us
setup_adc_ports(sAN0, VSS_VDD);
setup_adc(ADC_CLOCK_DIV_32 | ADC_TAD_MUL_20); // TAD 1us, acq. time 20us
// ............................................................
while(TRUE){
// play some with the motor. If you use a big one, bolt it down :-)
SPEED = 0; // ramp up speed right and left
while (SPEED <= 1010){
MOTOR_RIGHT(SPEED);
SPEED = SPEED + 10;
delay_ms(50);
}
MOTOR_STOP();
delay_ms(50);
SPEED = 0;
while (SPEED <= 1010){
MOTOR_LEFT(SPEED);
SPEED = SPEED + 10;
delay_ms(50);
}
MOTOR_STOP();
delay_ms(50);
MOTOR_RIGHT(1000); // full-on right
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
MOTOR_LEFT(1000); // full-on left
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
MOTOR_RIGHT(500); // half speed right
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
MOTOR_LEFT(500); // half speed left
delay_ms(2000);
MOTOR_STOP();
delay_ms(50);
// Run the motor via a pot on AN0. Pot on min. or max. gives full speed in both directions,
// slows the motor towards the middle, stops the motor in the middle
while(1){
ADC_VAL = READ_AN0(); // values from 0 - 1023
// LEFT rotation
// Transform ADC reading so that a reading of 0 from pot gives full speed and 448 stops the motor
if(ADC_VAL <= 448){ // LEFT rotation, lower 448 steps of the ADC
Temp = (int32)ADC_VAL - 448; // 0 => -448, 448 => 0
Temp = Temp*(-1); // get positive values, 0 => 448 , 448 => 0
Temp = Temp * 1000; // transform Temp to 0 - 1000 for SPEED PWM
Temp = Temp/448;
SPEED = (int16)TEMP; // casting is important, without that values are not correct!
MOTOR_LEFT(SPEED);
}
// RIGHT rotation
else if (ADC_VAL >= 575){ // RIGHT rotation, upper 448 steps of the adc
ADC_VAL = ADC_VAL - 575; // transform to 0 - 448
Temp = (int32)ADC_VAL * 1000; // transform ADC reading to 0 - 1000 for SPEED PWM
Temp = Temp/448;
SPEED = (int16)TEMP;
MOTOR_RIGHT(SPEED);
}
else{ // motor STOP in between, ADC from 449 - 574
MOTOR_STOP();
}
delay_ms(100);
} // while loop
} // while TRUE
} // MAIN
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