Pages: [1]   Go Down
Author Topic: Dual VNH5019 Motor Shield  (Read 690 times)
0 Members and 1 Guest are viewing this topic.
Offline Offline
Newbie
*
Karma: 0
Posts: 18
View Profile
 Bigger Bigger  Smaller Smaller  Reset Reset

Dear members from the Arduino forum,

I just received this week my Dual VNH5019 Motor Shield (From polulu). The shield works perfectly with my Arduino Uno, but i have problems with my Arduino mega (2560). I get the error M1 fault. I read what the error means, shortcut etc.

I just wonder if more people has the same problem.. (i already did some research [google] but not much hits).

I just the next libarary file from the shield: https://github.com/pololu/Dual-VNH5019-Motor-Shield

Now i hope somebody can help me out.

Kind Regards,

Dave
____
The code:

Demo.pde

Code:
#include "DualVNH5019MotorShield.h"

DualVNH5019MotorShield md;

void stopIfFault()
{
  if (md.getM1Fault())
  {
    Serial.println("M1 fault");
    while(1);
  }
  if (md.getM2Fault())
  {
    Serial.println("M2 fault");
    while(1);
  }
}

void setup()
{
  Serial.begin(115200);
  Serial.println("Dual VNH5019 Motor Shield");
  md.init();
}

void loop()
{
  for (int i = 0; i <= 400; i++)
  {
    md.setM1Speed(i);
    stopIfFault();
    if (i%200 == 100)
    {
      Serial.print("M1 current: ");
      Serial.println(md.getM1CurrentMilliamps());
    }
    delay(2);
  }
  
  for (int i = 400; i >= -400; i--)
  {
    md.setM1Speed(i);
    stopIfFault();
    if (i%200 == 100)
    {
      Serial.print("M1 current: ");
      Serial.println(md.getM1CurrentMilliamps());
    }
    delay(2);
  }
  
  for (int i = -400; i <= 0; i++)
  {
    md.setM1Speed(i);
    stopIfFault();
    if (i%200 == 100)
    {
      Serial.print("M1 current: ");
      Serial.println(md.getM1CurrentMilliamps());
    }
    delay(2);
  }

  for (int i = 0; i <= 400; i++)
  {
    md.setM2Speed(i);
    stopIfFault();
    if (i%200 == 100)
    {
      Serial.print("M2 current: ");
      Serial.println(md.getM2CurrentMilliamps());
    }
    delay(2);
  }
  
  for (int i = 400; i >= -400; i--)
  {
    md.setM2Speed(i);
    stopIfFault();
    if (i%200 == 100)
    {
      Serial.print("M2 current: ");
      Serial.println(md.getM2CurrentMilliamps());
    }
    delay(2);
  }
  
  for (int i = -400; i <= 0; i++)
  {
    md.setM2Speed(i);
    stopIfFault();
    if (i%200 == 100)
    {
      Serial.print("M2 current: ");
      Serial.println(md.getM2CurrentMilliamps());
    }
    delay(2);
  }
}

DualVNH5019MotorShield.cpp
Code:
#include "DualVNH5019MotorShield.h"

// Constructors ////////////////////////////////////////////////////////////////

DualVNH5019MotorShield::DualVNH5019MotorShield()
{
  //Pin map
  _INA1 = 2;
  _INB1 = 4;
  _EN1DIAG1 = 6;
  _CS1 = A0;
  _INA2 = 7;
  _INB2 = 8;
  _EN2DIAG2 = 12;
  _CS2 = A1;
}

DualVNH5019MotorShield::DualVNH5019MotorShield(unsigned char INA1, unsigned char INB1, unsigned char EN1DIAG1, unsigned char CS1,
                                               unsigned char INA2, unsigned char INB2, unsigned char EN2DIAG2, unsigned char CS2)
{
  //Pin map
  //PWM1 and PWM2 cannot be remapped because the library assumes PWM is on timer1
  _INA1 = INA1;
  _INB1 = INB1;
  _EN1DIAG1 = EN1DIAG1;
  _CS1 = CS1;
  _INA2 = INA2;
  _INB2 = INB2;
  _EN2DIAG2 = EN2DIAG2;
  _CS2 = CS2;
}

// Public Methods //////////////////////////////////////////////////////////////
void DualVNH5019MotorShield::init()
{
// Define pinMode for the pins and set the frequency for timer1.

  pinMode(_INA1,OUTPUT);
  pinMode(_INB1,OUTPUT);
  pinMode(_PWM1,OUTPUT);
  pinMode(_EN1DIAG1,INPUT);
  pinMode(_CS1,INPUT);
  pinMode(_INA2,OUTPUT);
  pinMode(_INB2,OUTPUT);
  pinMode(_PWM2,OUTPUT);
  pinMode(_EN2DIAG2,INPUT);
  pinMode(_CS2,INPUT);
  #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
  // Timer 1 configuration
  // prescaler: clockI/O / 1
  // outputs enabled
  // phase-correct PWM
  // top of 400
  //
  // PWM frequency calculation
  // 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz
  TCCR1A = 0b10100000;
  TCCR1B = 0b00010001;
  ICR1 = 400;
  #endif
}
// Set speed for motor 1, speed is a number betwenn -400 and 400
void DualVNH5019MotorShield::setM1Speed(int speed)
{
  unsigned char reverse = 0;
  
  if (speed < 0)
  {
    speed = -speed;  // Make speed a positive quantity
    reverse = 1;  // Preserve the direction
  }
  if (speed > 400)  // Max PWM dutycycle
    speed = 400;
  #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
  OCR1A = speed;
  #else
  analogWrite(_PWM1,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255
  #endif
  if (speed == 0)
  {
    digitalWrite(_INA1,LOW);   // Make the motor coast no
    digitalWrite(_INB1,LOW);   // matter which direction it is spinning.
  }
  else if (reverse)
  {
    digitalWrite(_INA1,LOW);
    digitalWrite(_INB1,HIGH);
  }
  else
  {
    digitalWrite(_INA1,HIGH);
    digitalWrite(_INB1,LOW);
  }
}

// Set speed for motor 2, speed is a number betwenn -400 and 400
void DualVNH5019MotorShield::setM2Speed(int speed)
{
  unsigned char reverse = 0;
  
  if (speed < 0)
  {
    speed = -speed;  // make speed a positive quantity
    reverse = 1;  // preserve the direction
  }
  if (speed > 400)  // Max
    speed = 400;
  #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
  OCR1B = speed;
  #else
  analogWrite(_PWM2,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255
  #endif
  if (speed == 0)
  {
    digitalWrite(_INA2,LOW);   // Make the motor coast no
    digitalWrite(_INB2,LOW);   // matter which direction it is spinning.
  }
  else if (reverse)
  {
    digitalWrite(_INA2,LOW);
    digitalWrite(_INB2,HIGH);
  }
  else
  {
    digitalWrite(_INA2,HIGH);
    digitalWrite(_INB2,LOW);
  }
}

// Set speed for motor 1 and 2
void DualVNH5019MotorShield::setSpeeds(int m1Speed, int m2Speed)
{
  setM1Speed(m1Speed);
  setM2Speed(m2Speed);
}

// Brake motor 1, brake is a number between 0 and 400
void DualVNH5019MotorShield::setM1Brake(int brake)
{
  // normalize brake
  if (brake < 0)
  {
    brake = -brake;
  }
  if (brake > 400)  // Max brake
    brake = 400;
  digitalWrite(_INA1, LOW);
  digitalWrite(_INB1, LOW);
  #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
  OCR1A = brake;
  #else
  analogWrite(_PWM1,brake * 51 / 80); // default to using analogWrite, mapping 400 to 255
  #endif
}

// Brake motor 2, brake is a number between 0 and 400
void DualVNH5019MotorShield::setM2Brake(int brake)
{
  // normalize brake
  if (brake < 0)
  {
    brake = -brake;
  }
  if (brake > 400)  // Max brake
    brake = 400;
  digitalWrite(_INA2, LOW);
  digitalWrite(_INB2, LOW);
  #if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
  OCR1B = brake;
  #else
  analogWrite(_PWM2,brake * 51 / 80); // default to using analogWrite, mapping 400 to 255
  #endif
}

// Brake motor 1 and 2, brake is a number between 0 and 400
void DualVNH5019MotorShield::setBrakes(int m1Brake, int m2Brake)
{
  setM1Brake(m1Brake);
  setM2Brake(m2Brake);
}

// Return motor 1 current value in milliamps.
unsigned int DualVNH5019MotorShield::getM1CurrentMilliamps()
{
  // 5V / 1024 ADC counts / 144 mV per A = 34 mA per count
  return analogRead(_CS1) * 34;
}

// Return motor 2 current value in milliamps.
unsigned int DualVNH5019MotorShield::getM2CurrentMilliamps()
{
  // 5V / 1024 ADC counts / 144 mV per A = 34 mA per count
  return analogRead(_CS2) * 34;
}

// Return error status for motor 1
unsigned char DualVNH5019MotorShield::getM1Fault()
{
  return !digitalRead(_EN1DIAG1);
}

// Return error status for motor 2
unsigned char DualVNH5019MotorShield::getM2Fault()
{
  return !digitalRead(_EN2DIAG2);
}


DualVNH5019MotorShield.h
Code:
#ifndef DualVNH5019MotorShield_h
#define DualVNH5019MotorShield_h

#include <Arduino.h>

class DualVNH5019MotorShield
{
  public:  
    // CONSTRUCTORS
    DualVNH5019MotorShield(); // Default pin selection.
    DualVNH5019MotorShield(unsigned char INA1, unsigned char INB1, unsigned char EN1DIAG1, unsigned char CS1,
                           unsigned char INA2, unsigned char INB2, unsigned char EN2DIAG2, unsigned char CS2); // User-defined pin selection.
    
    // PUBLIC METHODS
    void init(); // Initialize TIMER 1, set the PWM to 20kHZ.
    void setM1Speed(int speed); // Set speed for M1.
    void setM2Speed(int speed); // Set speed for M2.
    void setSpeeds(int m1Speed, int m2Speed); // Set speed for both M1 and M2.
    void setM1Brake(int brake); // Brake M1.
    void setM2Brake(int brake); // Brake M2.
    void setBrakes(int m1Brake, int m2Brake); // Brake both M1 and M2.
    unsigned int getM1CurrentMilliamps(); // Get current reading for M1.
    unsigned int getM2CurrentMilliamps(); // Get current reading for M2.
    unsigned char getM1Fault(); // Get fault reading from M1.
    unsigned char getM2Fault(); // Get fault reading from M2.
    
  private:
    unsigned char _INA1;
    unsigned char _INB1;
    static const unsigned char _PWM1 = 9;
    unsigned char _EN1DIAG1;
    unsigned char _CS1;
    unsigned char _INA2;
    unsigned char _INB2;
    static const unsigned char _PWM2 = 10;
    unsigned char _EN2DIAG2;
    unsigned char _CS2;
    
};

#endif
« Last Edit: June 05, 2013, 08:06:39 am by vleud101 » Logged

USA, FL
Offline Offline
God Member
*****
Karma: 14
Posts: 689
A life? Where can I download one of those?
View Profile
 Bigger Bigger  Smaller Smaller  Reset Reset

M1 fault means that your power supply is not sufficient. 

http://forum.pololu.com/viewtopic.php?f=15&t=4830
Logged

//LiNK

Offline Offline
Newbie
*
Karma: 0
Posts: 18
View Profile
 Bigger Bigger  Smaller Smaller  Reset Reset

Hi, at first point thanks for replying and trying to help me out/

I already read that topic on pololu.

I have a power supply of 30 Ampere at 12V. I already try-ed to use a separated power supply at the Arduino and the driver without success.. same error.

I try to figure out what the pin difference is between the Mega and the Uno, i see some timers are different but if that is the problem.. i don't know.
Logged

Pages: [1]   Go Up
Jump to: