look at that isn't that grand so this is coffee black ripe pale ale from barn
hammer brewing what do we say here rich roasted coffee unfiltered rye Pale Ale
oh wow there is so much coffee in that I'm gonna be awake all night whoo you
may remember this monstrosity I was working on a few weeks ago it's intended
to be just sort of a motion base for a future eventual robotics project and I
was using this sort of module here too as a motor driver which is exactly what
it is but then I got to thinking what else could I used to drive the motors I
mean okay so let's step back a minute a motor driver is basically something that
takes the low current 5 volts pulse width modulation signal from the
microcontroller and turns it into a higher current signal I guess for lack
of a better word a higher current
control for the motors and these toy motors aren't all that high demand but
who knows I might find something else to use and maybe even not in five volts so
these particular ones are running out 5 volts but so I got to thinking what are
my options I mean a premium module is super simple but there are other ways of
doing it so the most common way of driving or controlling a DC motor is
using the good old h bridge in each bridge is essentially four switches
surrounding a motor if switch 1 and 4 are turned on then the motor is
connected to the positive and the negative in this way and turns one
direction which is three and two are turned on
then the positives on this side of the motor and negatives on this side of the
motor and it turns the opposite direction which is what this drawing
here is showing the voltage in this way or the voltage this way now that's a
very simple way of doing it and these switches could be relays or they could
be BJT transistors or they could be MOSFETs or pretty much anything in a lot
of cases you can get them in in a single ICU packaged or you can create it out of
discrete transistors if you want to there's a few warnings though a few
things you have to look out for these particular states right here if you have
switch one and two turned on then you're going to short your power supply same as
if you got switch three and four both turn on your power supply then a lot of
the IC versions of an h-bridge take care of that internally but if
you're building your own it's just something you got to look out for the
other states you can have is with multiple switches open so there's
nothing on this side or nothing on this side and with those the motor coasts if
you have both switches to the high side or both switches to the low side
connected that essentially creates a short across the motor and if the motor
is being driven by momentum or whatever that essentially shorts its output
voltage which will be creating and it causes a braking type of thing obviously
as the motor gets slowed down that reduces but just something to keep in
mind might be useful but normally there's just the these three types of
states motor moves left motor moves right and motor coasts that most people
will want to use so as the Wikipedia article said you could either use
discrete components or you could use integrated circuits so what I have here
is one two three different I guess that is
a fourth one as well but I don't have the chip version of
that so there's a few different ICS that can do this and we'll take a little bit
of a closer look at some of these so the first one is the same module that I had
was playing with in my little project there it uses the L 9 1 1 0 s and
actually the module has two of them on it so it can drive two separate motors
so there is the L 9 1 1 0 chip and as you can see it doesn't take a lot of
circuitry to make it happen as a matter of fact none except for inputs and
outputs because I don't have a loose motor that doesn't take up too much
space I'm just using a couple of LEDs backward or back-to-back so when one is
turned on the other one is turned off so if we put one input high then we
essentially have one direction of our motor or in this case just one polarity
and if with the other input high we get the other polarity happening now then we
could replace either of those inputs with a PWM source and then we can dim it
so there's on the one input and there's on the other input you can actually see
the PWM happening a little bit on the camera until it speeds up so and again
those are just standing in for for my motor so that's an option and that's
when he said what I was experimenting with the other one and this one has the
eat well let's let's go take a look at the datasheet of that chip and we'll
just just see what's going on inside it here's the OL 90-110 chip it's capable
of switching between two and a half and 12 volts but 800 milliamps continuous
current per channel so that could be a limiting factor
depending on what motor you're putting on it it says down here somewhere it can
handle up to two amps for a short period of time but you wouldn't want to do that
for very long otherwise you risk letting the smoke out basically it just has two
channels a and B in and a and B out and then it's got 2 VC C that are in
parallel to ground that are in parallel which which basically just doubled up
for current handling more than anything else and here's the standard connection
diagram for it the motor goes across the two outputs forward signal and backwards
signal and that's it whichever one you take hi causes the
motor to do that magic and if you pulse with modulated or pulse it at all that
causes exactly the same thing to come out here only with a higher current
handling capability so another option is the driver which is on this board here
which is the l-29 3 chip now this board is actually a shield for we must D 1
Mini which I don't have any of at the time being so I can't play with that one
directly but I do have the dip version of it here so I'm gonna just hook that
up to my pulse width modulation source and we'll play with that actually let's
know what let's go and take a look at the datasheet for that guy first and
just see what its claim to fame is the l293d quadruple F H bridge drivers have
H drivers this is the version that I've got the dip of the 16 pin it also comes
in a 28 pin which doesn't have any more functionality it's just physically
bigger it has a little bit more heatsink and ground pins on it and a bunch of
non-connected I guess just to spread the heat around I'm not sure anyway it can
handle a little bit higher voltage than the 9110 that we were looking at a
minute ago it can its minimum voltage on the switch side it's four and
a half volts but it can handle up to 36 volts and up to one amp per channel for
the big version or six hundred milliamps per channel for the 16 pin version and
here's the example diagram or the example circuit that they have in the
datasheet which is pretty much what I'm going to throw it together on the
breadboard in a minute here so because it's got four drivers you can control
four output lines in this case they've got these two lines each going to a
single motor this one reference to ground and this one reference to the
high side so a high voltage on this is going to turn him on and a low voltage
on this side is gonna turn him on but these ones are just unidirectional if
you connect up to as in this side and again in our mark there are familiar
shape here so one of them drives one side of the motor one of them drives the
other side of the motor take this one high and this one all of the motor goes
in one direction the opposite and it goes in the other direction and then one
other thing that this chip has it's got an enable pin here so you can just keep
a steady pulse going on here and to stop the motor you just take the enable low
and again the same one over here you could take them stop them both just by
taking pin nine low okay this one's a little bit Messier on there just because
it's got two channels but basically this is set up exactly the same as that
schematic and that I showed you in the datasheet so these two are the two
unidirectional motors and this pair over here is pretending to be the
bi-directional motor so right now I've got the the two inputs to the two
different unidirectional motors common with my PWM input and I've got the
enable pin here pulled high so now then with the PWM at fully at one end
100 percent duty cycle this one is on and as I swing across now I met 100
percent duty cycle so this one is on and that's exactly how it showed in the in
the schematic because one of the motors LEDs in this case was reference to the
high side and one is reference to the ground side now that I'm just going to
move things around and we'll connect on to this side and see what happens over
here and obviously it's gonna work the way we expect it to but let's just see
it anyway okay so I've lifted the enable line for
these two LEDs and I've pulled the enabling for this one high right now I'm
connected to just one of the of the inputs with my pulse width modulation
there you can see again it controls that speed now then if I can if I connect my
motor or my PWM to the other one you notice it was still 100% and that now
it's running hundred-percent in the opposite direction and vice versa this
demonstration will be a lot better if I actually had a motor that I could fit on
here and show all this stuff simultaneously but I mean I hope this is
getting the point across that it's just another way of controlling any kind of
output current really and the polarity of it so to use this properly you would
again need two PWM outputs from your microcontroller one for forward and one
for reverse so the other possibility the other module that I've got is this one
which is the UL in 2003 chip and this module generally is sold for controlling
stepper motors the small little stepper motors that come in the starter kits and
whatnot and it's not an h-bridge exactly either
it's a different implementation let me show you the datasheet and here is that
ellen 2003 a actually it's a whole series of chips that are that just have
different packages and different current handling capabilities and whatnot but
it's the whole le in two thousand and something family so they're rated a 500
milliamps per channel and it's got or you got here seven channels on it it can
handle it can switch up to fifty volts so that gives us some options but as you
can see in the book diagram it's not really an h-bridge it's just Darlington
transistor arrays it's showing it as an amplifier here and I guess it kind of is
a current amplifier but not really sort of these are more typically used for
those small small stepper motors and I'm not going to run this one up in this
demonstration I'm just showing it to you as an option as it mentioned in the
Wikipedia article you could just as easily build these out of discrete
components and here is the BJT the bipolar Junction transistor version or
one version of it anyway this uses two PNP transistors and two NPN transistors
since I'm not putting a motor in there for my demonstrations I'm not going to
bother with these protection diodes in here I'm also not going to bother with
these photo transistor or photo transistor based Isolators opt Isolators
that's what they are in this example he's talking about using
those to keep your control signals completely separate and protected for
your motor motor voltage and any induced spikes and any other crap coming from
there so how this works how he's got it wired here because he's using these off
toys laters that also isolates the base current of each of these transistors too
so basically there's the pull-up or pulldown resistors and a series resistor
on the base side those I'm gonna leave in my circuit and
what he's got is this one and this one tied together onto one line and this one
and this one tied together on the other line so when he hits his forward voltage
turns this guy on and this one on and the motor rotates put the reverse on
that turns this guy and this guy on the motor goes the other direction so when
we're using the BGP circuits you have to be a little bit more careful because
there isn't internal logic preventing you from creating a short if you turn
this transistor and this transistor on simultaneously you're gonna create a
short straight to ground same thing with over here so I've got
this one the top one on this side turned on which pulls high and I've got that
turned on by pulling its base down because it's a PNP this one down here is
an NPN so I'm gonna turn it on either by taking its base high there you go or by
giving it a PWM signal and then I can bring it up and down similarly if I
disconnect that I can take the one the PNP from up there you hit the PWM signal
and take the NPN over here and pull it high and then I could PWM that one which
essentially again this is my forward or reverse directions right so that's
another way that's going to take for control whine so unless you use the off
twice leaders like the schematic that we saw in the computer earlier did and
that's why he's using the opto isolator z' so that basically he can control two
things at once without having to use four whines I don't happen to have any
off the way so leaders kicking around right now I'm sure there's something a
mailbag coming up soon but I don't have any right now now let's take a look at
the mosfet version of exactly the same thing so here's the mosfet version looks
very similar and that steam that seemed you know h-shaped thing there so this
one uses two N channel MOSFET sand to p-channel MOSFETs up here and up here
the p-channel MOSFETs are switching to the high side and the n-channel MOSFETs
are switching to the low side we've just got a pull-up resistor here and here
which in my example I think I mean use 10k just cause it's not that important
you just want something that's not gonna drag that much current so that keeps it
in a state where both of these guys are turned off and both of these guys are
turned on with with two at the bottom turned on that essentially has the motor
shorted out so that's that break condition that they were talking about
the Wikipedia article so then you just have to switch the two gates low on one
side or the other to cause either this no either this one or this one to turn
on so if you switch this side low that turns off this guy turns on this guy and
since this one's already turned on by the POE up you get a voltage through
this way and the same thing if you leave this one open and pull this one down
then you get there flow through this way alright yeah yeah that's it
and again the autocrat pores are just to protect your logic supply from any
spikes and crap generated by the motor I have my pedia because I'm tied into the
common gates of these two again P channel MOSFET in channel MOSFET pull-up
resistor preventing them from or putting them into a known state same thing here
this side pull-up resistor so that pull-up resistor is basically turning on
the end channel and off the P channel same thing here but when we apply PWM to
those gay let me get one direction or one of our
LEDs coming up let me move that to the other side and run our PWM in then we
get our opposite direction or in this case the other LED I'm just kind of hard
for you to see there you go so any nuts and these MOSFETs are the most powerful
devices of all of these things these are what are they so there's the end channel
MOSFET that I'm using this the IRF Zed 44 in it is what we got here rated for
max 49 amps continuous at 100 degrees Celsius 35 amps and what is its voltage
other fifty five volts and the p-channel MOSFET is a IRF ninety five forty which
doesn't have exactly the same specs it's got a little bit higher voltage just a
little bit lower current so now of course I have to ask myself which one of
these options am I going to use in my little cheesy robotics project here I
honestly don't know this is a fairly clean option it doesn't have optic up we
I think whatever I'm going to do though I think I am going to opt a couple it
just to keep the noise from the switching and the motor noise and the
inductive kickback and whatnot out of my day to control whines when I was working
on this thing originally I just put a capacitor on there across the motor
across the power lines just to smooth it out so that the motor noise wouldn't be
getting into the microcontroller but I can't do that until I get some auto
couplers in which I'm sure are somewhere in transit or in the mailbag stream
somewhere but until then I have a little bit of thinking to do and a little bit
more experimenting to do but that's just an overview of controlling motors using
a few different methods from my or controller I can are do you know I
hope anybody who is thinking about getting into this found some of this
useful and I hope it wasn't too misleading anybody with more experience
or who spotted something that I did completely and totally wrong or stupid
can please comment down in the comments or anybody who thought this is great has
other suggestions for different motor driver methods that would be awesome too
as always thanks for watching and I will talk to you later
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