About 180 Optical Encoder Motor (for mBot Ranger)

Overview

The 180 optical encoder motor is equipped with an optical encoder that enables high-accuracy control. With two M4 threaded holes on each of the three sides, it can be easily connected to Makeblock mechanical parts and thus can be used flexibly in combination with various other parts. The customized material it uses reduces noise and promises large output torque. It supports multiple motor drivers and main control boards, such as Orion, MegaPi, MegaPi Pro, and Me Auriga.

 

Specifications

• Reduction gear ratio: 39.6
• Rated voltage: 7.4 V
• No-load current: 240 mA
• Load current: ≤750 mA
• No-load speed: 350 ± 5% (RPM)
• Original speed: 14,000 ± 5% (RPM)
• Start torque: 5 kg·cm
• Rated torque: 800 g·cm
• Length of output shaft: 9 mm
• Power: 3.7 W
• Encoder rotation angle: 360°

 

Programming guide

● Program with mBlock 5

Block description (main control board: Auriga)

Block	Features
	Select a port Set the power to -100–100
	Select a port Set the speed (the maximum speed depends on the motor model)
	Select a port Set the rotation angle (a natural number) Set the speed (the maximum speed depends on the motor model)
	Obtain the speed of the motor
	Obtain the angle of the motor from the origin

● Program with mBlock 3

Block description

Block	Features
	Select a slot Set the power to -255–255
	Select a slot Set the speed (the maximum speed depends on the motor model)
	Select a slot Set the rotation angle (a natural number) Set the speed (the maximum speed depends on the motor model)
	Obtain the speed of the motor
	Obtain the position or degree of the motor from the origin

After the following program runs, encoder motor 1 and encoder motor 2 rotate at the speed of 100 RPM for 1 second and stop rotating for 1 second, and then repeat this process.

// generated by mBlock5 for mBot Ranger
// codes make you happy

#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>
#include <MeAuriga.h>

MeEncoderOnBoard Encoder_1(SLOT1);
MeEncoderOnBoard Encoder_2(SLOT2);
MeLightSensor lightsensor_12(12);

void isr_process_encoder1(void)
{
if(digitalRead(Encoder_1.getPortB()) == 0){
Encoder_1.pulsePosMinus();
}else{
Encoder_1.pulsePosPlus();
}
}
void isr_process_encoder2(void)
{
if(digitalRead(Encoder_2.getPortB()) == 0){
Encoder_2.pulsePosMinus();
}else{
Encoder_2.pulsePosPlus();
}
}
void move(int direction, int speed)
{
int leftSpeed = 0;
int rightSpeed = 0;
if(direction == 1){
leftSpeed = -speed;
rightSpeed = speed;
}else if(direction == 2){
leftSpeed = speed;
rightSpeed = -speed;
}else if(direction == 3){
leftSpeed = -speed;
rightSpeed = -speed;
}else if(direction == 4){
leftSpeed = speed;
rightSpeed = speed;
}
Encoder_1.setTarPWM(leftSpeed);
Encoder_2.setTarPWM(rightSpeed);
}

void _delay(float seconds) {
if(seconds < 0.0){
seconds = 0.0;
}
long endTime = millis() + seconds * 1000;
while(millis() < endTime) _loop();
}

void setup() {
TCCR1A = _BV(WGM10);
TCCR1B = _BV(CS11) | _BV(WGM12);
TCCR2A = _BV(WGM21) | _BV(WGM20);
TCCR2B = _BV(CS21);
attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);
attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
randomSeed((unsigned long)(lightsensor_12.read() * 123456));
while(1) {

move(1, 100 / 100.0 * 255);
_delay(1);
move(1, 0);
_delay(1);

_loop();
}

}

void _loop() {
Encoder_1.loop();
Encoder_2.loop();
}

void loop() {
_loop();
}

from time import sleep
from makeblock import MegaPiPro
board = MegaPiPro.create()
encoder = board.EncoderMotor(MegaPiPro.PORT1)
while True:
encoder.run(50)
sleep(2)
encoder.run(0)
sleep(1)
encoder.run(-50)
sleep(2)
encoder.run(0)
sleep(1)

10 lines (9 sloc) 274 Bytes
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from time import sleep
from makeblock import MegaPiPro
board = MegaPiPro.create()
encoder = board.EncoderMotor(MegaPiPro.PORT1)
position = 0
def on_finished(value):
position = 5000 - position
encoder.move_to(position,100,on_finished)

on_finished(position)