Starter Kit
Last updated
Last updated
The Starter Kit has the fundamentals of a control system for starters. A 100 RPM brushless DC motor with an encoder and a Joystick Module makes great applications for understanding the basics of motor control.
There are 4 operation modes for motor control: PWM, Velocity, Position and Current control modes.
All these modes allow the user to discover the different ways to drive a motor, enhancing the imagination.
The Starter Kit project codes shown below with all these motor control mode explanations:
Mode 1 - PWM: Motor rotates at a duty cycle corresponding to the value received from the joystick X axis
Mode 2 - Velocity: The velocity of the motor increases or decreases according to the X and Y axis of the joystick
Mode 3 - Position: The joystick acts like the edges of a circle on a coordinate system. It makes the motor rotate at angle of the joystick.
from smd.red import *
from serial.tools.list_ports import comports
from platform import system
import math
import os
# Serial Port Define
def USB_Port():
if system() == "Windows":
ports = list(comports())
if ports:
for port, desc, hwid in sorted(ports):
if 'USB Serial Port' in desc:
SMD_Port = port
return SMD_Port
else:
SMD_Port = None
return SMD_Port
elif system() == "Linux":
ports = list(serial.tools.list_ports.comports())
if ports:
for port, desc, hwid in sorted(ports):
if '/dev/ttyUSB' in port:
SMD_Port = port
return SMD_Port
elif system() == "Darwin": # macOS
ports = list(serial.tools.list_ports.comports())
if ports:
for port, desc, hwid in sorted(ports):
if '/dev/tty.usbserial' in port or '/dev/tty.usbmodem' in port:
SMD_Port = port
return SMD_Port
else:
SMD_Port = None
return SMD_Port
port = USB_Port()
m = Master(port)
ID = 0
m.attach(Red(ID))
m.update_driver_id(ID, 1)
ID = 1
m.attach(Red(ID))
CPR = 6533
RPM = 100
m.set_shaft_cpr(ID, CPR)
m.set_shaft_rpm(ID, RPM)
m.set_operation_mode(ID, OperationMode.Velocity)
m.set_control_parameters_velocity(ID, 30.0, 5.0, 0.0)
m.set_control_parameters_position(ID, 0.5, 0.0, 20.0)
m.set_control_parameters_torque(ID, 3.0, 0.1, 0.0)
m.enable_torque(ID, True)
mode = 0
"""
Mode 1 - PWM: Motor rotates at a duty cycle corresponding to the value received from the joystick X axis
Mode 2 - Velocity: The velocity of the motor increases or decreases according to the X and Y axis of the joystick
Mode 3 - Position: The joystick acts like the edges of a circle on a coordinate system. It makes the motor rotate at
angle of the joystick.
Mode 4 - Current: The motor will draw a current value less than 50 mA which is set as the limit by the joystick.
If something physically interrupts motor from moving.
"""
torque_status = True
motor_speed = 0
current_limit = 100
current_value = 0
previous_current = 0
def cmd_clear():
if system() == "Windows":
os.system('cls')
else:
os.system('clear')
while True:
try:
button = m.get_joystick(ID, 1)[2]
if button:
pressed_time = time.time()
while button:
current_time = time.time()
if (current_time - pressed_time) > 1.0:
mode += 1
mode = mode % 4
m.enable_torque(ID, False)
time.sleep(0.1)
m.enable_torque(ID, True)
time.sleep(0.1)
m.enable_torque(ID, False)
time.sleep(0.1)
m.enable_torque(ID, True)
break
button = m.get_joystick(ID, 1)[2]
except:
print("Button NoneType Error")
### MODE 1 ###
if mode == 0:
m.set_operation_mode(ID, OperationMode.PWM)
if not torque_status:
m.enable_torque(ID, True)
torque_status = True
try:
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
except:
joystick_x, joystick_y, button = [0, 0, 0]
if joystick_x > 10 or joystick_x < -10:
motor_speed = joystick_x
m.set_duty_cycle(ID, -motor_speed)
elif 0 <= joystick_x < 10 or 0 >= joystick_x > -10:
m.set_duty_cycle(ID, 0)
motor_speed = joystick_x
cmd_clear()
print(f"*** MODE 1 ***\nMotor Duty Cycle: {motor_speed}")
### MODE 2 ###
elif mode == 1:
m.set_operation_mode(ID, OperationMode.Velocity)
if not torque_status:
m.enable_torque(ID, True)
torque_status = True
try:
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
except:
joystick_x, joystick_y, button = [0, 0, 0]
if (joystick_x > 50 or joystick_y > 50) and motor_speed < 100:
motor_speed += 1
elif (joystick_x < -50 or joystick_y < -50) and motor_speed > -100:
motor_speed -= 1
m.set_velocity(ID, -motor_speed)
cmd_clear()
print(f"*** MODE 2 ***\nMotor Speed: {motor_speed}")
### MODE 3 ###
elif mode == 2:
m.set_operation_mode(ID, OperationMode.Position)
if not torque_status:
m.enable_torque(ID, True)
torque_status = True
try:
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
except:
joystick_x, joystick_y, button = [0, 0, 0]
if (-10 < joystick_x < 10) and (-10 < joystick_y < 10):
try:
current_position = m.get_position(ID)
angle_degrees = current_position * (360/CPR)
except:
current_position = 0
previous_angle = 0
else:
x = joystick_x / 100.0
y = joystick_y / 100.0
angle = math.atan2(y, x)
previous_angle = angle_degrees
angle_degrees = (math.degrees(angle) + 360) % 360
if angle_degrees - previous_angle > 180:
angle_degrees -= 360
position = angle_degrees * (CPR/360)
m.set_position(ID, position)
cmd_clear()
print(f"*** MODE 3 ***\nMotor Angle: {angle_degrees:.2f}°")
### MODE 4 ###
elif mode == 3:
m.set_operation_mode(ID, OperationMode.Torque)
try:
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
except:
joystick_x, joystick_y, button = [0, 0, 0]
if joystick_x > 50 or joystick_y > 50:
current_limit += 1
elif joystick_x < -50 or joystick_y < -50:
current_limit -= 1
m.set_torque(ID, current_limit - 50)
try:
previous_current = current_value
current_value = m.get_torque(ID)
except:
current_value = previous_current
if current_value >= current_limit:
m.enable_torque(ID, False)
torque_status = False
cmd_clear()
print(f"*** MODE 4 ***\nMotor Current: {current_value:.2f}\tCurrent Limit: {current_limit}")
if not torque_status:
print("\nMotor movement disabled due to the current exceed!")
from smd.red import *
from serial.tools.list_ports import comports
from platform import system
import math
import os
# Serial Port Define
def USB_Port():
if system() == "Windows":
ports = list(comports())
if ports:
for port, desc, hwid in sorted(ports):
if 'USB Serial Port' in desc:
SMD_Port = port
return SMD_Port
else:
SMD_Port = None
return SMD_Port
elif system() == "Linux":
ports = list(serial.tools.list_ports.comports())
if ports:
for port, desc, hwid in sorted(ports):
if '/dev/ttyUSB' in port:
SMD_Port = port
return SMD_Port
elif system() == "Darwin": # macOS
ports = list(serial.tools.list_ports.comports())
if ports:
for port, desc, hwid in sorted(ports):
if '/dev/tty.usbserial' in port or '/dev/tty.usbmodem' in port:
SMD_Port = port
return SMD_Port
else:
SMD_Port = None
return SMD_Port
port = USB_Port()
m = Master(port)
ID = 0
m.attach(Red(ID))
m.update_driver_id(ID, 1)
ID = 1
m.attach(Red(ID))
CPR = 6533
RPM = 100
m.set_shaft_cpr(ID, CPR)
m.set_shaft_rpm(ID, RPM)
m.set_operation_mode(ID, OperationMode.Velocity)
m.set_control_parameters_velocity(ID, 30.0, 5.0, 0.0)
m.set_control_parameters_position(ID, 0.5, 0.0, 20.0)
m.set_control_parameters_torque(ID, 3.0, 0.1, 0.0)
m.enable_torque(ID, True)
mode = 0
"""
Mode 1 - Position: The joystick acts like the edges of a circle on a coordinate system. It makes the motor rotate at
angle of the joystick.
Mode 2 - Velocity: The velocity of the motor increases or decreases according to the X and Y axis of the joystick
"""
motor_speed = 0
current_limit = 100
current_value = 0
previous_current = 0
def cmd_clear():
if system() == "Windows":
os.system('cls')
else:
os.system('clear')
while True:
try:
button = m.get_joystick(ID, 1)[2]
if button:
pressed_time = time.time()
while button:
current_time = time.time()
if (current_time - pressed_time) > 1.0:
mode += 1
mode = mode % 2
m.enable_torque(ID, False)
time.sleep(0.1)
m.enable_torque(ID, True)
time.sleep(0.1)
m.enable_torque(ID, False)
time.sleep(0.1)
m.enable_torque(ID, True)
break
button = m.get_joystick(ID, 1)[2]
except:
print("Button NoneType Error")
### MODE 1 ###
if mode == 0:
m.set_operation_mode(ID, OperationMode.Position)
try:
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
except:
joystick_x, joystick_y, button = [0, 0, 0]
if (-10 < joystick_x < 10) and (-10 < joystick_y < 10):
try:
current_position = m.get_position(ID)
angle_degrees = current_position * (360/CPR)
except:
current_position = 0
previous_angle = 0
else:
x = joystick_x / 100.0
y = joystick_y / 100.0
angle = math.atan2(y, x)
previous_angle = angle_degrees
angle_degrees = (math.degrees(angle) + 360) % 360
if angle_degrees - previous_angle > 180:
angle_degrees -= 360
position = angle_degrees * (CPR/360)
m.set_position(ID, position)
cmd_clear()
print(f"*** MODE 1 ***\nMotor Angle: {angle_degrees:.2f}°")
### MODE 2 ###
elif mode == 1:
m.set_operation_mode(ID, OperationMode.Velocity)
try:
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
except:
joystick_x, joystick_y, button = [0, 0, 0]
if joystick_y > 50 and motor_speed < 100:
motor_speed += 4
elif joystick_y < -50 and motor_speed > -100:
motor_speed -= 4
while joystick_x < -75:
m.set_velocity(ID, motor_speed)
joystick_x, joystick_y, button = m.get_joystick(ID, 1)
m.set_velocity(ID, -motor_speed)
cmd_clear()
print(f"*** MODE 2 ***\nMotor Speed: {motor_speed}")
Mode 4 - Current: The motor will draw a current value less than 50 mA which is set as the limit by the joystick. If something physically interrupts motor from moving, it naturally will try to draw a higher current to maintain its torque. The register becomes False and motor operation halts.
