Hardware pin assignment - NTheuws/linorobot2_software GitHub Wiki

Only modify the pin assignments under the motor driver constant that you are using ie. #ifdef USE_GENERIC_2_IN_MOTOR_DRIVER. You can check out PJRC's pinout page for each board's pin layout.

The pin assignments found in lino_base_config.h are based on Linorobot's PCB board. You can wire up your electronic components based on the default pin assignments but you're also free to modify it depending on your setup. Just ensure that you're connecting MOTORX_PWM pins to a PWM enabled pin on the microcontroller and reserve SCL and SDA pins for the IMU, and pin 13 (built-in LED) for debugging.

// INVERT ENCODER COUNTS
#define MOTOR1_ENCODER_INV false 
#define MOTOR2_ENCODER_INV false 
#define MOTOR3_ENCODER_INV false 
#define MOTOR4_ENCODER_INV false 

// INVERT MOTOR DIRECTIONS
#define MOTOR1_INV false
#define MOTOR2_INV false
#define MOTOR3_INV false
#define MOTOR4_INV false

// ENCODER PINS
#define MOTOR1_ENCODER_A 14
#define MOTOR1_ENCODER_B 15 

#define MOTOR2_ENCODER_A 11
#define MOTOR2_ENCODER_B 12 

#define MOTOR3_ENCODER_A 17
#define MOTOR3_ENCODER_B 16 

#define MOTOR4_ENCODER_A 9
#define MOTOR4_ENCODER_B 10

// MOTOR PINS
#ifdef USE_GENERIC_2_IN_MOTOR_DRIVER
    #define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can swap it with pin no 1 instead.
    #define MOTOR1_IN_A 20
    #define MOTOR1_IN_B 1 

    #define MOTOR2_PWM 5
    #define MOTOR2_IN_A 6
    #define MOTOR2_IN_B 8

    #define MOTOR3_PWM 22
    #define MOTOR3_IN_A 23
    #define MOTOR3_IN_B 0

    #define MOTOR4_PWM 4
    #define MOTOR4_IN_A 3
    #define MOTOR4_IN_B 2

    #define PWM_MAX pow(2, PWM_BITS) - 1
    #define PWM_MIN -PWM_MAX
#endif

Constants' Meaning:

  • MOTORX_ENCODER_A - Microcontroller pin that is connected to the first read pin of the motor encoder. This pin is usually labelled as A pin on the motor encoder board.

  • MOTORX_ENCODER_B - Microcontroller pin that is connected to the second read pin of the motor encoder. This pin is usually labelled as B pin on the motor encoder board.

  • MOTORX_ENCODER_INV - Flag used to change the sign of the encoder value. More on that later.

  • MOTORX_PWM - Microcontroller pin that is connected to the PWM pin of the motor driver. This pin is usually labelled as EN or ENABLE pin on the motor driver board.

  • MOTORX_IN_A - Microcontroller pin that is connected to one of the motor driver's direction pins. This pin is usually labelled as DIRA or DIR1 pin on the motor driver board. On BTS7960 driver, this is one of the two PWM pins connected to the driver (RPWM/LPWM).

  • MOTORX_IN_B - Microcontroller pin that is connected to one of the motor driver's direction pins. This pin is usually labelled as DIRB or DIR2 pin on the motor driver board. On BTS7960 driver, this is one of the two PWM pins connected to the driver (RPWM/LPWM).

  • MOTORX_INV - Flag used to invert the direction of the motor. More on that later.



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