Pololu Simple Manual de usuario Pagina 4
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Note: A USB A to mini-B cable [http://www.pololu.com/product/130] (not included) is required to connect this
controller to a computer.
Additional Features
• Adjustable maximum acceleration and deceleration to limit electrical and mechanical stress on the system.
• Adjustable starting speed, maximum speed, and amount of braking when speed is zero.
• Optional safety controls to avoid unexpectedly powering the motor.
• Input calibration (learning) and adjustable scaling degree for analog and RC signals.
• Under-voltage shutoff with hysteresis for use with batteries vulnerable to over-discharging (e.g. LiPo cells).
• Adjustable over-temperature threshold and response.
• Adjustable PWM frequency from 1 kHz to 22 kHz (maximum frequency is ultrasonic, eliminating switching-
induced audible motor shaft vibration).
• Error LED linked to a digital ERR output, and connecting the error outputs of multiple controllers together
optionally causes all connected controllers to shut down when any one of them experiences an error.
• Field-upgradeable firmware.
• USB/Serial features:
◦ Controllable from a computer with native USB, via serial commands sent to the device’s virtual serial
(COM) port, or via TTL serial through the device’s RX/TX pins.
◦ Example code in C#, Visual Basic .NET, and Visual C++ is available in the Pololu USB Software
Development Kit [http://www.pololu.com/docs/0J41]
◦ Optional CRC error detection to eliminate communication errors caused by noise or software faults.
◦ Optional command timeout (shut off motors if communication ceases).
◦ Supports automatic baud rate detection from 1200 bps to 500 kbps, or can be configured to run at a fixed
baud rate.
◦ Supports standard compact and Pololu protocols as well as the Scott Edwards Mini SSC protocol and an
ASCII protocol for simple serial control from a terminal program.
◦ Optional serial response delay for communicating with half-duplex controllers such as the Basic Stamp.
◦ Controllers can be easily chained together and to other Pololu serial motor and servo controllers to
control hundreds of motors using a single serial line.
Pololu Simple Motor Controller User's Guide © 2001–2014 Pololu Corporation
1. Overview Page 4 of 101
- User's Guide 1
- 1. Overview 3
- Additional Features 4
- 1.1. 18v7 Included Hardware 6
- 1. Overview Page 9 of 101 9
- 2. Contacting Pololu 10
- 3. Getting Started 11
- Motor Limits 18
- Input Channels 18
- Conditions 18
- 3.4. Errors 20
- 3.5. LED Feedback 22
- Green USB LED 23
- Red Error LED 23
- Yellow Status LED 23
- Power Considerations 28
- Motor Considerations 29
- Power and Motor Connectors 30
- Logic Power 31
- Serial Connections Overview 33
- The ERR Pin in Detail 35
- The TXIN Pin in Detail 36
- RC Connections Overview 38
- Using the RC Channels 38
- Analog Connections Overview 41
- Using the Analog Channels 42
- 5.1. Input Settings 44
- Input Mode 45
- Mixing Mode 45
- Alternate Use 46
- Learn button 47
- Scaling Parameters 47
- 5.2. Motor Settings 49
- Hard Limits 49
- 5.3. Advanced Settings 51
- VIN Detection 52
- Over-temperature Response 53
- RC Pulse Detection 53
- Miscellaneous 53
- 5.4. Upgrading Firmware 54
- Firmware Versions 54
- Upgrade Instructions 54
- 6. Using the Serial Interface 56
- 6.1. Serial Settings 58
- 6.2. Binary Commands 59
- Compact Protocol 60
- Pololu Protocol 60
- Mini SSC Protocol 61
- Get Variable (any input mode) 66
- 30 + 256 * 1 = 286 67
- Stop Motor (any input mode) 70
- 6.3. ASCII Commands 71
- Command Format 71
- Command Strings 71
- Argument Strings 72
- Termination Characters 72
- Responses 72
- Using a Terminal Program 73
- 6.4. Controller Variables 78
- Status Flag Registers 78
- RC Channel Inputs 80
- Analog Channel Inputs 81
- Diagnostic Variables 82
- Temporary Motor Limits 83
- 6.6. Daisy Chaining 86
- Connections 87
- Sending commands 87
- 6.7. Sample Code 87
- 6.7.1. Arduino Examples 88
- Advanced Example 89
- 6.7.2. Orangutan Examples 91
- 6.7.4. Windows C Example 98
- 6.7.5. Bash Script Example 98
- 6.7.6. CRC Computation in C 99
- Native USB Interface 101
- Virtual Serial Port 101
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