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Pololu Qik 2s12v10 User Manual

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Qik 2s12v10 User's Guide
Qik 2s12v10 User's Guide
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3. Connecting the Qik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.a. Power and Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.b. Logic Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.c. Included Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.d. Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.e. Indicator LEDs and Phases of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.f. Board Dimensions and Mounting Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4. Serial Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.a. TTL and RS-232 Serial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.b. Baud Rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.c. Command Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5. Serial Parameters and Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.a. Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.b. 0x81: Get Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.c. 0x82: Get Error Byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.d. 0x83 & 0x84: Get & Set Configuration Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.e. 0x86 & 0x87: Motor M0 & M1 Variable Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.f. 0x88 - 0x8F: Set Motor Forward/Reverse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.g. 0x90 & 0x91: Get Motor M0 & M1 Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.h. 0x92 & 0x93: Get Motor M0 & M1 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6. Cyclic Redundancy Check (CRC) Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.a. CRC Computation in C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
© 2001-2009 Pololu Corporation
Page 1 of 30

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Summary of Contents for Pololu Qik 2s12v10

  • Page 1: Table Of Contents

    2. Contacting Pololu ........

  • Page 2: Overview

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation 1. Overview The qik 2s12v10 adds a comprehensive yet easy-to-use, high-power option to Pololu’s line of motor controllers. The compact board—it’s almost the same size as the dual VNH2SP30 carrier board [http://www.pololu.com/catalog/product/ by itself—allows any microcontroller or computer with a serial port to drive two brushed DC motors with full...
  • Page 3 Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation Main Features of the Qik 2s12v10 • Simple bidirectional control of two DC brush motors. • 6 V to 16 V motor supply range. • 13 A maximum continuous current per motor (30 A peak).
  • Page 4 Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation Specifications Motor channels: Motor supply voltage: 6 – 16 V Continuous output current per channel: 13 A Peak output current per channel: 30 A Auto-detect baud rate range: 1200 – 115,200 bps...
  • Page 5 This product is not intended for young children! Younger users should use this product only under adult supervision. By using this product, you agree not to hold Pololu liable for any injury or damage related to the use or to the performance of this product.

  • Page 6: Contacting Pololu

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation 2. Contacting Pololu You can check the qik 2s12v10 dual serial motor controller page [http://www.pololu.com/catalog/product/1112] additional information. We would be delighted to hear from you about any of your projects and about your experience with the qik motor controller.

  • Page 7: Connecting The Qik

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation 3. Connecting the Qik Connecting to the qik can be as simple as hooking up power, your motors, and your serial connections. Many applications can ignore the jumpers and leave the remaining logic connections unconnected. The qik’s serial transmit line, TX, is only necessary if you want to get feedback from the controller.
  • Page 8 The qik 2s12v10 allows for variable braking. In this mode, the motor’s + and - outputs are PWMed between ground and high impedance. While the outputs are high-impedance, the motor coasts, and while the outputs are tied to ground the motor brakes.

  • Page 9: Logic Connections

    RS-232 feedback from the qik. Qik 2s12v10 TTL serial connection example (transmit and receive).Qik 2s12v10 RS-232 serial connection example (qik receive only). Both RX and SIN connect to the same serial port on the qik, so you should not use both of these inputs simultaneously.

  • Page 10: Included Hardware

    Connecting to a 3.3 V Microcontroller The logic components on the qik 2s12v10 run at 5 V, but it is still possible to interface with a 3.3 V microcontroller. The RX high input threshold is 3 V, so you can directly connect your microcontroller’s transmit line to the qik’s TTL serial receive line (i.e.

  • Page 11: Jumpers

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation connections, or you can use a pair of pliers to pull out the two header pins in the original 12×1 strip for which the qik has no holes and solder the entire strip to the qik’s logic pins. You can see this latter approach in the picture below.

  • Page 12: Indicator Leds And Phases Of Operation

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation BAUD1 BAUD2 Baud Mode Jumper Jumper auto-detect baud rate (1200 – 115,200 bps) fixed baud rate at 115,200 bps fixed baud rate at 38,400 bps fixed baud rate at 9,600 bps Enable-CRC Mode The jumper labeled CRC on the bottom of the qik enables cyclic redundancy check (CRC) mode when the shorting block is in place.
  • Page 13 Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation motor driver would turn an attached motor (green corresponds to “forward”), and the brightness of the LED gives you feedback about the speed. Please note that when a motor is attached and driven at an intermediate speed, it is normal to see both the red and green LED lit simultaneously.

  • Page 14: Board Dimensions And Mounting Information

    3.f. Board Dimensions and Mounting Information The qik 2s12v10 measures 2.15" x 1.86" x 0.28" (54.6 x 47.2 x 7.1 mm) and weighs 0.5 oz (14 g) without the header pins or terminal blocks installed. It has four mounting holes, one in each corner. The holes have a diameter of 0.125"...

  • Page 15: Serial Interface

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation 4. Serial Interface You can use the serial interface for three general purposes: querying the qik for information, setting its configuration parameters, and sending it motor commands. Motor commands are strictly one-way; all other commands result in the qik’s responding with a single byte that either represents information that has been requested or feedback on the...

  • Page 16: Baud Rates

    4.b. Baud Rates The qik 2s12v10 can handle baud rates between 1200 and 115,200 bps. In its default state, the qik starts up in an automatic-baud-detection phase and waits to receive the byte 0xAA (decimal 170). The qik detects the baud rate from this byte and proceeds to the normal operation phase at this baud rate.
  • Page 17 0x8n or 0x9n, these bytes all turn into data bytes 0x0n or 0x1n, respectively. The qik responds to both the Pololu and Compact protocols on the fly; you do not need to use a jumper or configuration parameter to identify which protocol you are using.

  • Page 18: Serial Parameters And Commands

    10 allowed values: 0 – 127 This parameter determines which device ID the unit responds to when the Pololu protocol is used. When setting this parameter, you should only have one qik on your serial line at a time.
  • Page 19 Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation • bit 2: if this bit is set, stop motors M0 and M1 when any motor-fault error occurs. When this parameter has a value of 7, both motors M0 and M1 are stopped as a safety precaution whenever any error occurs;...
  • Page 20 28. The captures were taken with a low PWM frequency (310 Hz) to make it easier to see the effect of the acceleration on the motor driver output. Qik 2s12v10 motor driving from speed 0 to 127 with acceleration of Qik 2s12v10 motor driving from speed 0 to 127 with acceleration of 127 and PWM frequency of 310 Hz.

  • Page 21: 0X81: Get Firmware Version

    Get Firmware Version Compact protocol: 0x81 Pololu protocol: 0xAA, device ID, 0x01 This command returns the a single ASCII byte that represents the version of the firmware running on the qik. All qik 2s12v10’s produced so far have firmware version ‘1’.
  • Page 22 Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation The qik maintains an error byte, the bits of which, when set, reflect various errors that have been detected since the byte was last read using this command. If we call the least-significant bit 0, the bits of the error byte are as follows: •...

  • Page 23: 0X83 & 0X84: Get & Set Configuration Parameter

    Compact protocol: 0x84, parameter number, parameter value, 0x55, 0x2A Pololu protocol: 0xAA, device ID, 0x04, parameter number, parameter value, 0x55, 0x2A This command lets you set the value of any of the twelve configuration parameters detailed in Section 5.a. The final two bytes of the command packets are format bytes that make it more difficult for this command to be unintentionally or accidentally sent, as might result from a noisy serial connection or buggy code.

  • Page 24: 0X88 - 0X8F: Set Motor Forward/Reverse

    127 out of a maximum of 127, which results in the motor’s turning at full speed. Command 0x88: Motor M0 Forward Compact protocol: 0x88, motor speed Pololu protocol: 0xAA, device ID, 0x08, motor speed Command 0x89: Motor M0 Forward (speed + 128; used in 8-bit mode) Compact protocol: 0x89, motor speed Pololu protocol: 0xAA, device ID, 0x09, motor speed 5.

  • Page 25: 0X90 & 0X91: Get Motor M0 & M1 Current

    © 2001–2009 Pololu Corporation Command 0x8A: Motor M0 Reverse Compact protocol: 0x8A, motor speed Pololu protocol: 0xAA, device ID, 0x0A, motor speed Command 0x8B: Motor M0 Reverse (speed + 128; used in 8-bit mode) Compact protocol: 0x8B, motor speed Pololu protocol: 0xAA, device ID, 0x0B, motor speed Motor M1 Commands Commands 0x8C –...

  • Page 26: 0X92 & 0X93: Get Motor M0 & M1 Speed

    5.h. 0x92 & 0x93: Get Motor M0 & M1 Speed Command 0x92: Get Motor M0 Speed Compact protocol: 0x92 Pololu protocol: 0xAA, device ID, 0x12 Command 0x93: Get Motor M1 Speed Compact protocol: 0x93 Pololu protocol: 0xAA, device ID, 0x13 These commands return the present motor speeds, which can be useful in determining the current state of an accelerating motor or the speed that results from active current limiting.

  • Page 27: Cyclic Redundancy Check (Crc) Error Detection

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation 6. Cyclic Redundancy Check (CRC) Error Detection For certain applications, verifying the integrity of the data you’re sending and receiving can be very important. Because of this, the qik has optional 7-bit cyclic redundancy checking, which is similar to a checksum but more robust as it can detect some possible errors, such as an extra zero byte, that would not affect a checksum.

  • Page 28: Crc Computation In C

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation XOR 1 0 0 0 1 0 0 1 | | | | | | | | | | | | | | | --------------- | | | | | | | | | | | | | | |...
  • Page 29 Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation unsigned char i, crc = 0; for (i = 0; i < length; i++) crc = CRCTable[crc ^ message[i]]; return crc; int main() unsigned char message[3] = {0x83, 0x01, 0x00}; int i,j;...

  • Page 30: Troubleshooting

    Qik 2s12v10 User's Guide © 2001–2009 Pololu Corporation 7. Troubleshooting The following are some suggestions for ways you can troubleshoot your qik: • Test for life: With nothing more than power connected, look for a green LED heartbeat. If you do not see the green LED flashing, you either lack sufficient power (e.g.

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