Class EncoderMotorL9110 - GSTCH/SketchMadeEASY GitHub Wiki
| Topic | Specification |
|---|---|
| Description | This class controls a rotating drive. The motor is controlled with a L9110S H-bridge. This is able to control up to 2 motors. It uses two PWM pins (one per direction of rotation) to control one motor. Create two objects of this class to control both motors. An encoder motor has a rotary encoder to control the speed. The logic contains a PID regulator to hold the speed on the demanded value. Sketch Made EASY supports up to 6 encoders in a sketch. This means that up to 6 encoder motors can be operated at the same time. |
| Constructor |
EncoderMotorL9110(int PinA, int PinB, int SensorAPin, int SensorBPin, int aPPR, int GearRatio, int MaxSpeed) Parameter PinA: Digital (Out) Pin with PWM for direction of rotation 1PinB: Digital (Out) Pin with PWM for direction of rotation 1SensorAPin: Rotary Encoder A-SignalSensorBPin: Rotary Encoder B-SignalPPR: Pulses per Revolution of the rotary encoderGearRatio: GearRatio: Gear ration of the motorMaxSpeed: Sketch Made EASY includes an auto map from input to actuator. When set value to > 0, the map is active and maps speed to 0…MaxSpeed depending on the assigned input. When set value to 0, the logic takes the value of the input, assigned by a relation without map. |
| Range | 0…255 |
| Samples | EncoderMotorL9110* encoderMotor = new EncoderMotorL9110(11, 12, 3, 4, 7, 34, 0); |
| Examples |
Example 16‐EncoderMotor and LED controlled by FlySky FS‐i6X‐RemoteControl Test 42 |
| Advanced |
More encoder motors: Increase the const EASY_MAX_ENCODERS in the file “src\Kernel\RotaryEncoder.h” of the library. Plot: In the test are two #defines: define PLOT_ENCODERMOTOR and PLOT_ROTARYENCODER in the file “Common/BuildDefinition.h”. Uncomment one of them to plot with the Arduino IDE.  PLOT_ENCODERMOTOR T: Target rotational speed [1/min]REr: Rotary encoder rotational speed [1/min]Ref: Filtered rotational speed (includes a low-pass filter) [1/min]CS: Calculated speed, set by PID<BRP: Proportional term P of the regulatorI: Integrates past term I of the regulatorD: Diverential future term D of the regulatorThere’s a constructor with the PID-factors (default 10/0/50): EncoderMotorL9110(int PinA, int PinB, int SensorAPin, int SensorBPin, int PPR, int GearRatio, int MaxSpeed, float KP, float KI, float KD)  PLOT_ROTARYENCODER Pos: Pulse CounterRPMr: Rotational speed [1/min]RPMf: Filtered rotational speed (includes a low-pass filter) [1/min] |
