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  • Products
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        • GPS/GNSS
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      • Sensors
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        • Relay
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        • EEPROM
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      • dsPIC/PIC24
        • C
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        • Basic
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          • MikroPlot
      • PIC32
        • C
          • NECTO Studio
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        • Basic
          • mikroBasic PRO for PIC32
        • Pascal
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        • Additional Software
          • CODEGRIP WiFi license
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          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • ARM
        • C
          • NECTO Studio
          • mikroC PRO for ARM
        • Basic
          • mikroBasic PRO for ARM
        • Pascal
          • mikroPascal PRO for ARM
        • Additional Software
          • CODEGRIP WiFi license
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          • Visual TFT
          • Visual TFT AI
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • AVR
        • C
          • NECTO Studio
          • mikroC PRO for AVR
        • Basic
          • mikroBasic PRO for AVR
        • Pascal
          • mikroPascal PRO for AVR
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • FT90x
        • C
          • mikroC PRO for FT90x
        • Basic
          • mikroBasic PRO for FT90x
        • Pascal
          • mikroPascal PRO for FT90x
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • 8051
        • C
          • mikroC PRO for 8051
        • Basic
          • mikroBasic PRO for 8051
        • Pascal
          • mikroPascal PRO for 8051
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
    • Dev Boards
      • PIC (8-bit)
        • 8th Generation
          • Fusion for PIC v8
          • EasyPIC PRO v8
          • EasyPIC PRO v8 over USB-C
          • EasyPIC v8
          • EasyPIC v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC PRO v7a
          • PICPLC16 v7a
          • EasyPIC v7a
          • EasyPIC PRO v7
          • EasyPIC v7
        • 6th Generation
          • PICPLC16 v6
      • dsPIC/PIC24 (16-bit)
        • 8th Generation
          • EasyPIC v8 PIC24/dsPIC33
          • EasyPIC v8 for dsPIC30
          • EasyPIC v8 for dsPIC30 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
          • EasyPIC v7 for dsPIC30
        • 6th Generation
          • Easy24-33 v6
      • PIC32 (32-bit)
        • 8th Generation
          • Fusion for PIC32
          • Fusion for PIC32 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
      • ARM (32-bit)
        • 8th Generation
          • Fusion for ARM v8
          • Fusion for ARM v8 over USB-C
          • Fusion for STM32 v8
          • Fusion for STM32 over USB-C
          • Fusion for KINETIS v8
          • Fusion for Kinetis v8 over USB-C
          • Fusion for TIVA v8
          • Fusion for TIVA v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyMx PRO v7a STM32
          • EasyMx PRO v7 STM32
          • EasyMx PRO v7 Tiva
      • AVR (8-bit)
        • 8th Generation
          • EasyAVR v8
          • EasyAVR PRO v8
          • EasyAVR PRO v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyAVR v7
        • 6th Generation
          • AVRPLC16 v6
      • 8051 (8-bit)
        • 7th generation
          • BIG8051
        • 6th Generation
          • Easy8051 v6
      • PSoC (8-bit)
        • 6th Generation
          • UNI-DS6 Development System
      • RISC-V (32bit)
        • 8th Generation
          • UNI-DS v8
          • UNI-DS v8 over USB-C
      • Universal Boards
        • 8th Generation
          • UNI-DS v8
          • UNI-DS v8 over USB-C
          • Fusion for PIC v8
          • Fusion for ARM v8
        • 7th Generation
          • EasyPIC Fusion v7
        • 6th Generation
          • UNI-DS6
          • mikroBoard for PIC 80-pin
          • mikroBoard for AVR
          • mikroBoard for dsPIC
          • mikroBoard for PSoC
          • mikroBoard for 8051
          • mikroBoard for PIC 40-pin
          • mikroBoard for ARM
          • mikroBoard for ARM 144-pin
      • IoT - Wearable
        • Hexiwear
          • Hexiwear
          • Hexiwear Power User Pack
          • Hexiwear Docking Station
          • Hexiwear Battery Pack
          • Hexiwear Color Pack
          • Hexiwear Workstation
      • Analog Boards
        • 7th Generation
          • Analog System Lab Kit PRO
    • Starter Boards
      • PIC (8-bit)
        • Clicker
          • PIC clicker
        • Clicker 2
          • Clicker 2 for PIC18FJ
          • Clicker 2 for PIC18FK
        • Clicker 4
          • Clicker 4 for PIC18F
          • UNI Clicker
        • Ready
          • Ready for PIC Board
          • Ready for PIC (DIP28)
          • PIC-Ready2 Board
          • MMC Ready Board
        • StartUSB
          • StartUSB for PIC
      • dsPIC/PIC24 (16-bit)
        • Clicker 2
          • Clicker 2 for PIC24
          • Clicker 2 for dsPIC33
        • Clicker 4
          • UNI Clicker
        • Ready
          • dsPIC-Ready1 Board
          • dsPIC-Ready2 Board
          • DsPIC-Ready3 Board
          • dsPIC-Ready4 Board
      • PIC32 (32-bit)
        • Clicker
          • PIC32MX clicker
          • 6LoWPAN Clicker
          • PIC32MZ clicker
        • Clicker 2
          • Clicker 2 for PIC32MX
          • Clicker 2 for PIC32MZ
        • Clicker 4
          • UNI Clicker
        • MINI
          • MINI-32 Board
          • MINI-32 for PIC32MZ
        • Flip&Click
          • Flip&Click PIC32MZ
      • ARM (32-bit)
        • Clicker
          • RA4M1 Clicker
          • Kinetis Clicker
          • MSP432 Clicker
          • CEC1702 clicker
          • CEC1302 Clicker
          • STM32 M4 clicker
        • Clicker 2
          • Clicker 2 for STM32
          • Clicker 2 for Kinetis
          • Clicker 2 for CEC1702
          • Clicker 2 for MSP432
          • Clicker 2 for CEC1302
          • Clicker 2 for PSoC 6
        • Clicker 4
          • Clicker 4 for STM32F745VG
          • Clicker 4 for STM32F4
          • Clicker 4 for TMPM3H
          • Clicker 4 for TMPM4K
          • Clicker 4 for STM32
          • UNI Clicker
        • MINI
          • MINI-M4 for STM32
          • MINI-M4 For Kinetis
          • MINI-M4 for Tiva
          • MINI-M4 for Stellaris
          • MINI-M4 for MSP432
          • MINI-M0 for STM32
        • Flip&Click
          • Flip&Click SAM3X
      • AVR (8-bit)
        • Clicker 4
          • UNI Clicker
        • MINI
          • MINI-AT Board - 3.3V
          • MINI-AT Board - 5V
        • Ready
          • Ready for AVR Board
          • Ready For XMEGA
          • mikroXMEGA Board
          • AVR-Ready2 Board
        • StartUSB
          • StartUSB for AVR
      • 8051 (8-bit)
        • Ready
          • 8051-Ready Board
      • FT90x (32-bit)
        • Clicker 2
          • Clicker 2 for FT90x
      • Miscellaneous
        • USB
          • USB Wizard
          • Quail
          • FlowPaw Kit
      • Universal Boards
        • Clicker 4
          • UNI Clicker
    • Prog-Debug
      • PIC (8-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
          • CODEGRIP for PIC
          • CODEGRIP for PIC USB-C
        • mikroProg
          • mikroProg for PIC
      • dsPIC/PIC24 (16-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
          • CODEGRIP for PIC
        • mikroProg
          • mikroProg for dsPIC
      • PIC32 (32-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
          • CODEGRIP for PIC
          • CODEGRIP for PIC USB-C
        • mikroProg
          • mikroProg for PIC32
      • ARM (32-bit)
        • CODEGRIP
          • UNI CODEGRIP
          • UNI CODEGRIP USB-C
          • CODEGRIP for ARM
          • CODEGRIP for ARM USB-C
          • CODEGRIP for STM32
          • CODEGRIP for KINETIS
          • CODEGRIP for Tiva
          • CODEGRIP for Tiva USB-C
        • mikroProg
          • mikroProg for STM32
          • mikroProg for Tiva
          • mikroProg for Kinetis
          • mikroProg for CEC
          • mikroProg for MSP432
          • mikroProg for PSoC 5LP
      • AVR (8-bit)
        • CODEGRIP
          • CODEGRIP for AVR
          • CODEGRIP for AVR - USB-C
          • UNI CODEGRIP
          • UNI CODEGRIP - USB-C
        • mikroProg
          • mikroProg for AVR
      • 8051 (8-bit)
        • mikroProg
          • mikroProg for 8051
      • FT90x (32-bit)
        • mikroProg
          • mikroProg for FT90x
    • Smart Displays
      • 2.8"
        • ARM (32-bit)
        • AVR (8-bit)
        • dsPIC/PIC24 (16-bit)
        • PIC (8-bit)
        • PIC32 (32-bit)
      • 3.5"
        • ARM (32-bit)
        • FT90x (32-bit)
        • PIC (8-bit)
        • PIC32 (32-bit)
      • 4.3"
        • ARM (32-bit)
        • FT90x (32-bit)
        • PIC (8-bit)
        • PIC32 (32-bit)
      • 5"
        • ARM (32-bit)
        • FT90x (32-bit)
        • PIC32 (32-bit)
      • 7"
        • ARM (32-bit)
        • FT90x (32-bit)
    • MCU Cards
      • PIC (8-bit)
        • 8th Generation
        • 7th Generation
        • 6th Generation
      • dsPIC/PIC24 (16-bit)
        • 8th Generation
        • 7th Generation
        • 7th Generation (empty)
        • 6th Generation
        • 6th Generation (empty)
      • PIC32 (32-bit)
        • 8th Generation
        • 7th Generation
        • 6th Generation
        • 6th Generation (empty)
      • ARM (32-bit)
        • 8th Generation
        • 7th Generation
        • 7th Generation (empty)
      • AVR (8-bit)
        • 8th Generation
        • 6th Generation
        • 6th Generation (empty)
      • RISC-V (32bit)
        • 8th Generation
    • Accessories
      • TFT Displays
      • LCD Displays
      • LED Displays
      • E-Paper Displays
      • Sensors
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MikroElektronika white logo
  • Products
    • click boards icon Click Boards
      • Wireless Connectivity
        • GPS/GNSS
        • GSM/LTE
        • LTE IoT
        • BT/BLE
        • WiFi
        • RFID/NFC
        • GSM+GPS
        • 6LoWPAN
        • ZigBee
        • UWB
        • SigFox
        • Sub-1 GHz Transceievers
        • 2.4 GHz Trancevers
        • LoRa
        • WiFi+BLE
      • Sensors
        • Biometrics
        • Gas
        • Magnetic
        • Motion
        • Optical
        • Pressure
        • Proximity
        • Temperature & humidity
        • Current sensor
        • Miscellaneous
        • Environmental
        • Force
        • Inductance
        • RF meter
        • Click Shields
        • Click Bundles
      • Interface
        • Adapter
        • CAN
        • Port expander
        • RS485
        • USB
        • 1-Wire
        • RS232
        • Ethernet
        • LIN
        • PWM
        • Current
        • DALI
        • I2C
        • Fiber optics
        • SPI
        • DMX
        • CXPI
        • Click Shields
        • Click Bundles
      • Display & LED
        • LED Drivers
        • LED Matrix
        • LED Segment
        • OLED
        • LCD
        • Electronic Paper Display
        • OSD
        • TFT
        • Click Shields
        • Click Bundles
      • Miscellaneous
        • Relay
        • Optocoupler
        • ID
        • Proto
        • Encryption
        • Click Shields
        • Click Bundles
      • Mixed Signal
        • ADC
        • Measurements
        • DAC
        • Digital potentiometer
        • ADC-DAC
        • Click Shields
        • Click Bundles
      • Storage
        • EEPROM
        • FLASH
        • FRAM
        • microSD
        • MRAM
        • SRAM
        • EERAM
        • ReRAM
        • DRAM
        • Click Shields
        • Click Bundles
      • Motor Control
        • Brushed
        • Brushless
        • Servo
        • Stepper
        • Click Shields
        • Click Bundles
      • Audio & Voice
        • Amplifier
        • Microphone
        • Speakers
        • Signal Processing
        • Speech recognition
        • FM
        • MP3
        • Click Shields
        • Click Bundles
      • HMI
        • Capacitive
        • Pushbutton/Switches
        • Potentiometers
        • Rotary encoder
        • Haptic
        • Fingerprint
        • Click Shields
        • Click Bundles
      • Clock & Timing
        • RTC
        • Clock generator
        • Click Shields
        • Click Bundles
      • Power Management
        • Battery charger
        • Boost
        • Buck
        • Linear
        • Buck-Boost
        • Wireless Charging
        • Power Switch
        • USB-C PD
        • Click Shields
        • Click Bundles
      • Click Bundles
      • Click Shields
    • necto icon NECTO
      • NECTO Studio
    • compilers icon Compilers
      • PIC
        • C
          • NECTO Studio
          • mikroC PRO for PIC
        • Basic
          • mikroBasic PRO for PIC
        • Pascal
          • mikroPascal PRO for PIC
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual TFT AI
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • dsPIC/PIC24
        • C
          • NECTO Studio
          • mikroC PRO for dsPIC
        • Basic
          • mikroBasic PRO for dsPIC
        • Pascal
          • mikroPascal PRO for dsPIC
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • PIC32
        • C
          • NECTO Studio
          • mikroC PRO for PIC32
        • Basic
          • mikroBasic PRO for PIC32
        • Pascal
          • mikroPascal PRO for PIC32
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • ARM
        • C
          • NECTO Studio
          • mikroC PRO for ARM
        • Basic
          • mikroBasic PRO for ARM
        • Pascal
          • mikroPascal PRO for ARM
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual TFT AI
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • AVR
        • C
          • NECTO Studio
          • mikroC PRO for AVR
        • Basic
          • mikroBasic PRO for AVR
        • Pascal
          • mikroPascal PRO for AVR
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • FT90x
        • C
          • mikroC PRO for FT90x
        • Basic
          • mikroBasic PRO for FT90x
        • Pascal
          • mikroPascal PRO for FT90x
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
      • 8051
        • C
          • mikroC PRO for 8051
        • Basic
          • mikroBasic PRO for 8051
        • Pascal
          • mikroPascal PRO for 8051
        • Additional Software
          • CODEGRIP WiFi license
          • CODEGRIP SSL license
          • Visual TFT
          • Visual GLCD
          • Package Manager
          • mikroBootloader
          • CAN calculator
          • GLCD Font Creator
          • Timer Calculator
          • MikroPlot
    • dev boards icon Dev Boards
      • PIC (8-bit)
        • 8th Generation
          • Fusion for PIC v8
          • EasyPIC PRO v8
          • EasyPIC PRO v8 over USB-C
          • EasyPIC v8
          • EasyPIC v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC PRO v7a
          • PICPLC16 v7a
          • EasyPIC v7a
          • EasyPIC PRO v7
          • EasyPIC v7
        • 6th Generation
          • PICPLC16 v6
      • dsPIC/PIC24 (16-bit)
        • 8th Generation
          • EasyPIC v8 PIC24/dsPIC33
          • EasyPIC v8 for dsPIC30
          • EasyPIC v8 for dsPIC30 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
          • EasyPIC v7 for dsPIC30
        • 6th Generation
          • Easy24-33 v6
      • PIC32 (32-bit)
        • 8th Generation
          • Fusion for PIC32
          • Fusion for PIC32 over USB-C
          • Fusion for PIC v8
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyPIC Fusion v7
      • ARM (32-bit)
        • 8th Generation
          • Fusion for ARM v8
          • Fusion for ARM v8 over USB-C
          • Fusion for STM32 v8
          • Fusion for STM32 over USB-C
          • Fusion for KINETIS v8
          • Fusion for Kinetis v8 over USB-C
          • Fusion for TIVA v8
          • Fusion for TIVA v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyMx PRO v7a STM32
          • EasyMx PRO v7 STM32
          • EasyMx PRO v7 Tiva
      • AVR (8-bit)
        • 8th Generation
          • EasyAVR v8
          • EasyAVR PRO v8
          • EasyAVR PRO v8 over USB-C
          • UNI-DS v8
          • UNI-DS v8 over USB-C
        • 7th Generation
          • EasyAVR v7
        • 6th Generation
          • AVRPLC16 v6
      • 8051 (8-bit)
        • 7th generation
          • BIG8051
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  1. Home
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  3. Development Platform with Wheels

Development Platform with Wheels

Published: 16/03/2016 | Post categories: Learn, MIKROE Tools & Solutions

| Views:4474

Development Platform with Wheels

15 years ago, a development board was not only hard to find but seriously expensive. Buying a development board and the compiler to go along with it was a extreme commitment. Kind of like buying a house but this house was one you had to constantly work on. Not only that, but compilers were primitive by today's standards. I love the command line as much as the next nerd but it's nice having a choice between GUI and command line. Fast-forward to the present and a development board can be found just about anywhere. Ordering online has never been easier and the compiler / IDE can be downloaded. What a beautiful time we live in.

There is one flaw in the board selections, they are all geared to a flat virtual world. What about the case of movement and articulating physical representations of code? I'm talking about motors and sensors living in harmony as they perform a valuable task. Sure, you can wire in the motors and power supplies. You can put together something like Frankenstein's monster, but what if the development system you use were more customized to work in the physical world? No need for a wiring nest. I'm talking about the MikroElektronika Buggy.

All the talk lately about drones has taken away from the beautiful platform of a wheeled drone. Flying development boards have a hard time with flight time as well as tight spaces. With a wheeled development platform the closed spaces become a welcomed environment. How about inspection of air ducts? How would a flying board accomplish this? What if you didn't want to disturb the surrounding environment? Fairly difficult to create an autonomous vacuum with a flying drone.

Although the appearance of the Buggy can resemble a toy, it's nothing less than a full development foundation. Let's look at some of the features that define the Buggy as a development platform.

  • 4 count them 4 DC drive motors
  • Main board pad that accepts multiple platforms ( ARM, PIC, PIC32, and more to come )
  • 3 Mikrobus sockets for sensors, radios, GPS, mems devices, lighting, nfc, rfid, camera, voice recognition, speech synthesizer........
  • Connections for external analog sensors
  • High capacity Li-on rechargeable battery with power management on-board
  • Basic lighting

All of which you won't find on a toy.

Let's look at how to drive this development system.

Drive Mechanism

Having the ability to transport your sensors to the location you need is critical. For the driving system we find the 4 motors driven by 2 DRV8833RTY FETs. These are controlled with simple PWM from the main board. The motors can be controlled independently from one another. 4 motors = 4 PWM channels. The beautiful thing about controlling a motor by PWM is the fact that the MCU Timers take care of this signal without any MCU processing time. When you add the simplicity of the PWM Library in the MikroE IDE, movement is practically done.

PWM is used in many things and can fill almost a book. What is important to know is that when looking at DC motors is that when looking at speed, they are regulated by the level of voltage. Higher voltage means higher rotational speed. So how do you vary the voltage from a battery? PWM. The ratio of the time on / off in comparison to the input voltage is what the final voltage is. For example, a input of 5V and duty cycle of 50% means a voltage of 2.5V.

Period: the length of time between beginning and end of a cycle of the timer. The larger the frequency of this period the smoother the motor motion becomes. This becomes clearer when you mix in the concept of duty cycle.

Duty cycle: The length of time the signal is high over the span of 1 period. 50% = 50% on / %50 off

Needed for PWM: Timers

Setup Timers:

PWM_A_PERIOD = PWM_TIM4_Init(20000);
PWM_B_PERIOD = PWM_TIM4_Init(20000);
PWM_C_PERIOD = PWM_TIM9_Init(20000);
PWM_D_PERIOD = PWM_TIM3_Init(20000);

PWM_TIM4_Set_Duty(0, _PWM_NON_INVERTED, _PWM_CHANNEL3);
PWM_TIM4_Set_Duty(0, _PWM_NON_INVERTED, _PWM_CHANNEL4);
PWM_TIM9_Set_Duty(0, _PWM_NON_INVERTED, _PWM_CHANNEL1);
PWM_TIM3_Set_Duty(0, _PWM_NON_INVERTED, _PWM_CHANNEL3);

These simple commands sets the timer to a period of 20,000 Hz. This will give us a very smooth voltage. If you experiment, you will find as the frequency is low, the motors will still operate, but the motion will be like driving over a bumpy road. What is stored in the variables PWM_X_PERIOD  is the timer period based on the value of the timer.

 

PeriodVSDuty

We also set the PWM duty to 0 which is a complete stop.

Moving Forward / Reverse

Forward motors are on channels A for left and D for right

Reverse motors are on channels B for left and C for right

Setting the duty on the forward motors the same means a movement forward, since we are going to be using a range of duty, we can use a scaler with the PWM_X_PERIOD.

example:

PWM_TIM4_Set_Duty( PWM_A_PERIOD * .5, _PWM_NON_INVERTED, _PWM_CHANNEL3 );
PWM_TIM3_Set_Duty( PWM_D_PERIOD * .5, _PWM_NON_INVERTED, _PWM_CHANNEL3 );
PWM_TIM4_Set_Duty( PWM_B_PERIOD * 0, _PWM_NON_INVERTED, _PWM_CHANNEL4 );
PWM_TIM9_Set_Duty( PWM_C_PERIOD * 0, _PWM_NON_INVERTED, _PWM_CHANNEL1 );

This will be a movement forward at %50 of the maximum speed.

PWM_TIM4_Set_Duty( PWM_A_PERIOD * 0, _PWM_NON_INVERTED, _PWM_CHANNEL3 );
PWM_TIM3_Set_Duty( PWM_D_PERIOD * 0, _PWM_NON_INVERTED, _PWM_CHANNEL3 );
PWM_TIM4_Set_Duty( PWM_B_PERIOD * .75, _PWM_NON_INVERTED, _PWM_CHANNEL4 );
PWM_TIM9_Set_Duty( PWM_C_PERIOD * .75, _PWM_NON_INVERTED, _PWM_CHANNEL1 );

This is a reverse speed of %75 of maxium.

Turning

BuggyBottom

Turning is done with differential power between the corners of the buggy. Meaning that if you want to turn left you would turn the duty up for the right motor and down for the left motor. The tighter turning radius the larger the proportional rate between the 2 motors will be. This scaler value between the motors could be mapped between the values of a joystick read from an ADC.

static inline long map( long x, long in_min, long in_max, long out_min, long out_max )
{
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void direction( int joystick_x )
{
    float movement = 0.0;
    
    if( joystick_x == 0 )
        return;
    joystick_x = map( joystick_x, -4096, 4096, -100, 100 );
    
    if( joystick_x < 0 )
    {
        movement = abs( joystick_x ) / 100.0f;
        
        PWM_TIM4_Set_Duty( PWM_A_PERIOD * ( 1.0f - movement ), _PWM_NON_INVERTED, _PWM_CHANNEL3 );
        PWM_TIM3_Set_Duty( PWM_D_PERIOD * movement, _PWM_NON_INVERTED, _PWM_CHANNEL3 );    
    } else {
        
        movement = joystick_x / 100.0f
        PWM_TIM4_Set_Duty( PWM_A_PERIOD * movement, _PWM_NON_INVERTED, _PWM_CHANNEL3 );
        PWM_TIM3_Set_Duty( PWM_D_PERIOD * ( 1.0f - movement ), _PWM_NON_INVERTED, _PWM_CHANNEL3 );    
    }    
}

Just like that and now you have a proportional turn radius and the same can be done with forward and reverse.

Ideas for Motion Control

Maybe the joystick is too old school for you. How about controlling the movement of the buggy with gesture:

03_buggy_ideas_motion_controlSpeak to your drone. What about a game of keep-away. As your pet approaches your drone, have the IR Detection move to a safe distance.

Communication

first-public-radio-broadcast

Communicating the gathered sensor data is going to be paramount for an motorized data collection drone. Several options exist and all depend on your range, power, and data throughput. If you are creating an indoor air quality collection unit, WiFi is a good choice but tends to be power hungry. A more miserly power consumer would be BlueTooth, BluetoothLE, nRF24L01, or other low powered radios. A distance answer would be LoRA or 6LoWPAN or Z Wave.

Expansion

2 Mikrobus slots exist on the front for usage of sensor or radios. Faced perpendicular to the travel direction lends itself well to distance sensors.

04_buggy_expansion_mikrobus

 

On the rear is 1 additional MB slot for another sensor of your choice.

Mainboard

Several choices are in this category. PIC, STM32, PIC32, FTDI.

05_buggy_clicker2

The choice is a purely personal one. It's like asking which is better Windows or Linux. We all know the right answer, so we don't even need to discuss it.

The form factor of the connector is the same as the Mikromedia. You can use the Mikromedia, but with it you loose the 2 Mikrobus sockets on the board in exchange for a display.

Projects Made with Buggy

Line Following Buggy

Collision Avoidance

GUI Based Buggy Programming

PIC Based Line Follower

There is also an example on Libstock.

Summary

Although there are some flames on the PCB which makes the buggy look like a toy, in reality it isn't. Toys don't allow for 6 expansion slots, or the ability to add your own logic. A more appropriate name for it would be "development board on wheels". My personal choice for these units is a personal annoyance tool for pets. An algorithm that seeks the radio tag of the dogs collar, then keeps a safe distance from it. The joy lasts as long as the battery.

Products mentioned in this post

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    Buggy
    $143.00
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    Buggy is a robot rover platform expandable with all sorts of sensors and transceivers thanks to the mikroBUS™ sockets on it. The mikroBUS™ sockets allows you connection of hundreds add-on Click boards™ . A dream car for hackers and makers. Multiple kits available with combination of various MCU's and pheriperals. Therefore do not waste any time! Buy your...

    PID: MIKROE-1670
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