Arduino Motor Control

Dr. Tarek A. Tutunji

Philadelphia University

Outline• DC Motor

• Servo Motor

• Stepper Motor

DC Motor

DC Motor Control using PWM

Example: DC Motor Speed Control

reference: www.circuitstoday.com

Example: DC Motor Controlusing analogWrite

const int pwmPin = 10;

Const int Pot = A0;

void setup() {

pinMode(pwmPin, OUTPUT;

}

void loop() {

analogWrite(pwmPin, 99 );

}

Note:

Duty Cycle is 387/1000 = 0.387

Then, 0.387 x 255 = 98.685

Servo Motor

Servo Motors• Servo motors have built-in shaft encoder

• Data sheets provide the required pulses for specific speed and/or position

Motor EncoderMain

ControllerElectronics

Servo Motor• An actuator with built-in feedback mechanism that responds to a

control signal by moving to and holding a position, or by moving at continuous speed.

Servo motors

Reference: living with the lab

Servo Motor

Servo Motor

Servo Motor

• File Examples Servo Knob

/* Controlling a servo position using a potentiometer (variable resistor) */

#include <Servo.h>

Servo myservo; // create servo object

int potpin = 0; // analog pin connect the potentiometer

int val; // variable to read the value from analog pin

void setup()

{ myservo.attach(9); // attaches the servo on pin 9 }

void loop()

{

val = analogRead(potpin); // reads potentiometer

val = map(val, 0, 1023, 0, 180); // scale the value

myservo.write(val); // sets the servo position

delay(15); // waits for the servo to get there

}

Stepper Motor

Stepper Motor

Stepper Motor

Stepper MotorFile Examples Stepper stepper_oneRevolution

/* This program drives a unipolar or bipolar stepper motor. The motor is attached to digital pins 8 - 11 of the Arduino. The motor should revolve one revolution in one direction */

#include <Stepper.h>

const int stepsPerRevolution = 200;

// number of steps per revolution for your motor

// initialize stepper library on pins 8 through 11:

Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);

void setup()

{ myStepper.setSpeed(60); } // Set the speed at 60 rpm

void loop() {

// step one revolution in one direction:

myStepper.step(stepsPerRevolution);

delay(500);

}