About Photoelectric Encoder Motor 180 RPM (for mBot Ranger)

Overview

Photoelectric encoder is used in the photoelectric encoder motor 180RPM for high-precision control. It can be flexibly used with other parts. There are two M4 threaded holes on three sides of the motor respectively, so it can be easily fixed with Makeblock mechanical parts. Meanwhile, the noise is low when the motor is running and large torque is available for a long time since customized material is used. The motor 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 the 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.

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

#include <MeMegaPiPro.h>

double angle_rad = PI/180.0;
double angle_deg = 180.0/PI;
MeEncoderOnBoard Encoder_1(SLOT1);
MeEncoderOnBoard Encoder_2(SLOT2);
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 setup(){
TCCR1A = _BV(WGM10);//PIN12
TCCR1B = _BV(CS11) | _BV(CS10) | _BV(WGM12);
TCCR2A = _BV(WGM21) | _BV(WGM20);//PIN8
TCCR2B = _BV(CS22);
attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);
attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
}

void loop(){
Encoder_1.setTarPWM(100);
Encoder_2.setTarPWM(100);
delay(1);
Encoder_1.setTarPWM(0);
Encoder_2.setTarPWM(0);
delay(1);
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)