OVERVIEW
In this tutorial we will use a L9110S dual motor driver to control the speed of a small DC Motor.
At the same time we will learn how to connect a Rotary Encoder and use it to set the speed and direction.
Since we don’t want to drive the motor directly from the UNO, we will be using an inexpensive little breadboard power supply that plugs right on our breadboard and power it with a 9V 1Amp power supply.
The Rotary Encoder is connected to the UNO directly since it uses almost no power.
PARTS USED
Breadboard Power Supply
L9110S Dual Motor Driver
Rotary Encoder
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CONNECTIONS
When connecting DC Motors (unless they are brushless) make sure to connect a small capacitor between the leads.
We are using a small 1uF ceramic capacitor in this instance, that will act as suppressor of sparks and surges generated by motor brushes and avoid damaging or resetting the UNO.
As mentioned, we use a breadboard power supply to power the L9110S since motors can draw more current than the UNO can provide.
We will be using an interrupt in our code to read the Rotary Encoder, so we need to make sure we connect the CLK pin of the Rotary encoder to Pin 2 of the UNO which supports interrupts.
* The UNO has 2 pins available for interrupts : Pin 2 and Pin 3.
THE CODE
Don’t be scared by the size of the code, since most of it is just checking values for Forward and Reverse.
We want to insure that we catch the pulses from our Rotary Encoder when they happen.
It would be very tricky to write a program to do anything else, because the program would need to constantly poll the sensor lines of the encoder, in order to catch pulses when they occurred.
Using an interrupt can free the UNO to get some other work done while not missing the input.
So when we turn the Rotary encoder the interrupt happens, reads the direction, puts the value in the “UP” variable and then resumes our Main Loop.
As always you can check out the Tutorial video for more information.
volatile boolean TurnDetected; // need volatile for Interrupts
volatile boolean up;
const int PinCLK=2; // Generating interrupts using CLK signal
const int PinDT=3; // Reading DT signal
const int PinSW=4; // Reading Push Button switch
// L9110 connections
#define L9110_B_IA 10 // Pin D10 --> Motor B Input A
#define L9110_B_IB 11 // Pin D11 --> Motor B Input B
// Motor Speed & Direction
#define MOTOR_B_PWM L9110_B_IA // Motor PWM Speed
#define MOTOR_B_DIR L9110_B_IB // Motor Direction
// Interrupt routine runs if CLK goes from HIGH to LOW
void isr () {
delay(4); // delay for Debouncing
if (digitalRead(PinCLK))
up = digitalRead(PinDT);
else
up = !digitalRead(PinDT);
TurnDetected = true;
}
void setup () {
pinMode(PinCLK,INPUT);
pinMode(PinDT,INPUT);
pinMode(PinSW,INPUT);
digitalWrite(PinSW, HIGH); // Pull-Up resistor for switch
attachInterrupt (0,isr,FALLING); // interrupt 0 always connected to pin 2 on Arduino UNO
Serial.begin (9600);
Serial.println("Start");
pinMode( MOTOR_B_DIR, OUTPUT );
pinMode( MOTOR_B_PWM, OUTPUT );
digitalWrite( MOTOR_B_DIR, LOW ); // Set motor to off
digitalWrite( MOTOR_B_PWM, LOW );
}
void loop () {
static long RotaryPosition=0; // STATIC to count correctly
if (!(digitalRead(PinSW))) { // check if button is pressed
if (RotaryPosition == 0) { // check if button was already pressed
} else {
RotaryPosition=0; // if YES, then reset position to ZERO
digitalWrite( MOTOR_B_DIR, LOW ); // turn motor off
analogWrite( MOTOR_B_PWM, LOW );
Serial.print ("Reset = ");
Serial.println (RotaryPosition);
}
}
// Runs if rotation was detected
if (TurnDetected) {
if (up) {
if (RotaryPosition >= 100) { // Max value set to 100
RotaryPosition = 100;
}
else {
RotaryPosition=RotaryPosition+2;
}
}
else {
if (RotaryPosition <= -100) {
// Max value set to -100
RotaryPosition = -100;
}
else {
RotaryPosition=RotaryPosition-2;
}
}
TurnDetected = false; // do NOT repeat IF loop until new rotation detected
Serial.print ("Speed = ");
Serial.println (RotaryPosition);
// if Rotation is Clockwise
if (RotaryPosition > 0 && RotaryPosition < 11) {
digitalWrite( MOTOR_B_DIR, LOW ); // turn motor off
analogWrite( MOTOR_B_PWM, LOW );
}
if (RotaryPosition > 10 && RotaryPosition < 21) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 180 ); // PWM speed = 180
}
if (RotaryPosition > 20 && RotaryPosition < 31) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 160 ); // PWM speed = 160
}
if (RotaryPosition > 30 && RotaryPosition < 41) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 140 ); // PWM speed = 140
}
if (RotaryPosition > 40 && RotaryPosition < 51) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 120 ); // PWM speed = 120
}
if (RotaryPosition > 50 && RotaryPosition < 61) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 100 ); // PWM speed = 100
}
if (RotaryPosition > 60 && RotaryPosition < 71) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 80 ); // PWM speed = 80
}
if (RotaryPosition > 70 && RotaryPosition < 81) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 60 ); // PWM speed = 60
}
if (RotaryPosition > 80 && RotaryPosition < 91) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 40 ); // PWM speed = 40
}
if (RotaryPosition > 90) {
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward
analogWrite( MOTOR_B_PWM, 20 ); // PWM speed = 20
}
// if Rotation is Counter-Clockwise
if (RotaryPosition < 0 && RotaryPosition > -11) {
digitalWrite( MOTOR_B_DIR, LOW ); // turn motor off
analogWrite( MOTOR_B_PWM, LOW );
}
if (RotaryPosition < -10 && RotaryPosition > -21) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 40 ); // PWM speed = 40
}
if (RotaryPosition < -20 && RotaryPosition > -31) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 60 ); // PWM speed = 60
}
if (RotaryPosition < -30 && RotaryPosition > -41) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 80 ); // PWM speed = 80
}
if (RotaryPosition < -40 && RotaryPosition > -51) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 100 ); // PWM speed = 100
}
if (RotaryPosition < -50 && RotaryPosition > -61) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 120 ); // PWM speed = 120
}
if (RotaryPosition < -60 && RotaryPosition > -71) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 140 ); // PWM speed = 140
}
if (RotaryPosition < -70 && RotaryPosition > -81) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 160 ); // PWM speed = 160
}
if (RotaryPosition < -80 && RotaryPosition > -91) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 180 ); // PWM speed = 180
}
if (RotaryPosition < -90) {
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse
analogWrite( MOTOR_B_PWM, 200 ); // PWM speed = 200
}
}
}TUTORIAL VIDEO
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Copy and paste the above code in the Arduino IDE to program your Arduino.
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