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    L293D Motor Control Shield: Features

    Uploaded by

    Jefferson Henrique
    The L293D motor control shield allows an Arduino board to control up to 4 DC motors or 2 stepper motors. It uses an L293D chip which can supply up to 600mA per channel and support motors with voltages up to 36V. The chip uses an H-bridge circuit to allow bidirectional control of each motor. The shield provides connections for motors and power, and includes code examples to control motor speed and direction under Arduino.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    L293D Motor Control Shield: Features

    Uploaded by

    Jefferson Henrique
    308 views6 pages
    The L293D motor control shield allows an Arduino board to control up to 4 DC motors or 2 stepper motors. It uses an L293D chip which can supply up to 600mA per channel and support motors with voltages up to 36V. The chip uses an H-bridge circuit to allow bidirectional control of each motor. The shield provides connections for motors and power, and includes code examples to control motor speed and direction under Arduino.

    Original Description:

    Como usar o motor shield l293d

    Original Title

    Shield l293d

    Copyright

    © © All Rights Reserved

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    The L293D motor control shield allows an Arduino board to control up to 4 DC motors or 2 stepper motors. It uses an L293D chip which can supply up to 600mA per channel and support motors with voltages up to 36V. The chip uses an H-bridge circuit to allow bidirectional control of each motor. The shield provides connections for motors and power, and includes code examples to control motor speed and direction under Arduino.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    308 views6 pages

    L293D Motor Control Shield: Features

    Uploaded by

    Jefferson Henrique
    The L293D motor control shield allows an Arduino board to control up to 4 DC motors or 2 stepper motors. It uses an L293D chip which can supply up to 600mA per channel and support motors with voltages up to 36V. The chip uses an H-bridge circuit to allow bidirectional control of each motor. The shield provides connections for motors and power, and includes code examples to control motor speed and direction under Arduino.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 6

    L293D motor control shield

    L293D is a monolithic integrated, high voltage, high current, 4-channel driver.


    Basically this means using this chip you can drive DC motors with power
    supplier up to 36 Volts, and the chip can supply a maximum current of 600mA
    per channel. L293D chip is also known as a type of H-Bridge. The H-Bridge
    is typically an electrical circuit that enables a voltage to be applied across a
    load in either direction to an output, e.g. motor.

    Features:

    2 connections for 5V 'hobby' servos connected to the Arduino's


    high-resolution dedicated timer - no jitter!
    Up to 4 bi-directional DC motors with individual 8-bit speed selection (so,
    about 0.5% resolution)
    Up to 2 stepper motors (unipolar or bipolar) with single coil, double coil,
    interleaved or micro-stepping.
    4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with
    thermal shutdown protection, 4.5V to12V
    Pull down resistors keep motors disabled during power-up
    Big terminal block connectors to easily hook up wires (10-22AWG) and
    power
    Arduino reset button brought up top
    2-pin terminal block to connect external power, for separate logic/motor
    supplies
    Tested compatible with Mega, UNO& Duemilanove
    Dimensions: 69mm x 53mm x 14.3mm (2.7in x 2.1in x 0.6in)

    Operation

    Arduino controller: 1pcs


    L293D: 1pcs
    DC motor: 4 pcs
    Power supplier 9V: 1pcs
    Please connect the devices according to the following drawing:

    Drawing

    Program source code is as follows

    #include <Servo.h>
    #define MOTORLATCH 12
    #define MOTORCLK 4
    #define MOTORENABLE 7
    #define MOTORDATA 8
    #define MOTOR1_A 2
    #define MOTOR1_B 3
    #define MOTOR2_A 1
    #define MOTOR2_B 4
    #define MOTOR3_A 5
    #define MOTOR3_B 7
    #define MOTOR4_A 0
    #define MOTOR4_B 6
    #define MOTOR1_PWM 11
    #define MOTOR2_PWM 3
    #define MOTOR3_PWM 6
    #define MOTOR4_PWM 5
    #define SERVO1_PWM 10
    #define SERVO2_PWM 9
    #define FORWARD 1
    #define BACKWARD 2
    #define BRAKE 3
    #define RELEASE 4
    Servo servo_1;
    Servo servo_2;
    void setup()
    {
    Serial.begin(9600);
    Serial.println("Simple Adafruit Motor Shield sketch");
    servo_1.attach(SERVO1_PWM);
    servo_2.attach(SERVO2_PWM);
    }
    void loop()
    {
    motor(1, FORWARD, 255);
    motor(2, FORWARD, 255);
    motor(3, FORWARD, 255);
    motor(4, FORWARD, 255);
    delay(2000);
    // Be friendly to the motor: stop it before reverse.
    motor(1, RELEASE, 0);
    motor(2, RELEASE, 0);

    motor(3, RELEASE, 0);


    motor(4, RELEASE, 0);
    delay(100);
    motor(1, BACKWARD, 128);
    motor(2, BACKWARD, 128);
    motor(3, BACKWARD, 128);
    motor(4, BACKWARD, 128);
    delay(2000);
    motor(1, RELEASE, 0);
    motor(2, RELEASE, 0);
    motor(3, RELEASE, 0);
    motor(4, RELEASE, 0);
    delay(100);
    }
    void motor(int nMotor, int command, int speed)
    {
    int motorA, motorB;
    if (nMotor >= 1 && nMotor <= 4)
    {
    switch (nMotor)
    {
    case 1:
    motorA = MOTOR1_A;
    motorB = MOTOR1_B;
    break;
    case 2:
    motorA = MOTOR2_A;
    motorB = MOTOR2_B;
    break;
    case 3:
    motorA = MOTOR3_A;
    motorB = MOTOR3_B;
    break;
    case 4:
    motorA = MOTOR4_A;
    motorB = MOTOR4_B;
    break;
    default:
    break;
    }
    switch (command)
    {
    case FORWARD:
    motor_output (motorA, HIGH, speed);

    motor_output (motorB, LOW, -1); // -1: no PWM set


    break;
    case BACKWARD:
    motor_output (motorA, LOW, speed);
    motor_output (motorB, HIGH, -1); // -1: no PWM set
    break;
    case BRAKE:
    motor_output (motorA, LOW, 255); // 255: fully on.
    motor_output (motorB, LOW, -1); // -1: no PWM set
    break;
    case RELEASE:
    motor_output (motorA, LOW, 0); // 0: output floating.
    motor_output (motorB, LOW, -1); // -1: no PWM set
    break;
    default:
    break;
    }
    }
    }
    void motor_output (int output, int high_low, int speed)
    {
    int motorPWM;
    switch (output)
    {
    case MOTOR1_A:
    case MOTOR1_B:
    motorPWM = MOTOR1_PWM;
    break;
    case MOTOR2_A:
    case MOTOR2_B:
    motorPWM = MOTOR2_PWM;
    break;
    case MOTOR3_A:
    case MOTOR3_B:
    motorPWM = MOTOR3_PWM;
    break;
    case MOTOR4_A:
    case MOTOR4_B:
    motorPWM = MOTOR4_PWM;
    break;
    default:
    speed = -3333;
    break;
    }

    if (speed != -3333)
    {
    shiftWrite(output, high_low);
    // set PWM only if it is valid
    if (speed >= 0 && speed <= 255)
    {
    analogWrite(motorPWM, speed);
    }
    }
    }
    void shiftWrite(int output, int high_low)
    {
    static int latch_copy;
    static int shift_register_initialized = false;
    // Do the initialization on the fly,
    // at the first time it is used.
    if (!shift_register_initialized)
    {
    // Set pins for shift register to output
    pinMode(MOTORLATCH, OUTPUT);
    pinMode(MOTORENABLE, OUTPUT);
    pinMode(MOTORDATA, OUTPUT);
    pinMode(MOTORCLK, OUTPUT);
    // Set pins for shift register to default value (low);
    digitalWrite(MOTORDATA, LOW);
    digitalWrite(MOTORLATCH, LOW);
    digitalWrite(MOTORCLK, LOW);
    // Enable the shift register, set Enable pin Low.
    digitalWrite(MOTORENABLE, LOW);
    // start with all outputs (of the shift register) low
    latch_copy = 0;
    shift_register_initialized = true;
    }
    // The defines HIGH and LOW are 1 and 0.
    // So this is valid.
    bitWrite(latch_copy, output, high_low);
    shiftOut(MOTORDATA, MOTORCLK, MSBFIRST, latch_copy);
    delayMicroseconds(5); // For safety, not really needed.
    digitalWrite(MOTORLATCH, HIGH);
    delayMicroseconds(5); // For safety, not really needed.
    digitalWrite(MOTORLATCH, LOW);
    }

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