Published January 5, 2020 © GPL3+

DC Motor Position Control

This instruction will show how to control motor position via Local web network.

IntermediateFull instructions provided31,724

Things used in this project

Hardware components

NodeMCU ESP8266 Breakout Board

SparkFun Dual H-Bridge motor drivers L298

Arduino UNO

UTSOURCE Electronic Parts

Story

Now you can use smart phone or iPad connected to network, then type address of local web server of motor From here, we can control motor position disk by rotating the disk on web page when we touch the disk on webpage, it will send position setting to web server of motor, then rotate motor disk to reach that position setting on real time

Step 1: Hardware Needed

To make this project, we will need

1. nodeMCU https://amzn.to/2PPo5e0

2. H-bridge L298 https://amzn.to/2QS2FeI

3. Motor with encoder https://amzn.to/2RHsCRj

4. Motor base http://bit.ly/2DZJOZV

Buy electronic component on utsource.net

The heart of nodeMCU is ESP8266 which allow us connect to local wifi network. It also has GPIO and interrupt, PWM function like others Arduino microcontroller

The motor base is made from MDF wood 3mm thickness, cut by laser cnc machine.

Step 2: Circuit Design

Take a look at circuit design, motor encoder is connected to input pin 4, 5 in which pin 4 also acts as an interrupt pin to count rotation of motor

Pin 12, 13 acts as output pin to control motor moving forward or backward with helps of H-bridge L298

Pin 14 is used with PWM function to control motor speed, in this project, it just push out stable PWM to reduce speed of motor

Then, we made circuit into motor base like the picture.

Step 3: Arduino Code Works

Main part is HTML code which is used for local web screen

Full code can be download here http://bit.ly/2ZkMivK

Java script library is used to make circle disk, and pass value to nodeMCU. The Java lib needed to load to file system of nodeMCU

Step 4: Load the Code to NodeMCU

There are two part to load:

1. Java lib to file system of nodeMCU

The lib is save in folder next to project file, we have to install the tool called "data upload" tool into Arduino directory tool, then restart Arduino IDE.

To upload Java lib, choose following: Tools> ESP8266 Sketch Data Upload

Wait about 1 minute to upload the lib.

"Data upload" tool can be downloaded here http://bit.ly/2tMZWfF

2. Program to node MCU

Using upload function to upload the code as usual Arduino.

Step 5: Test It

That's it! From now, you can use mobile phone or iPad connected to wifi network to control motor position.

Code

code arduino

  #include <Arduino.h>
  #include <ESP8266WiFi.h>
  #include <Hash.h>
  #include <ESPAsyncTCP.h>
  #include <ESPAsyncWebServer.h>
  #include "FS.h"

// Replace with your network credentials
const char* ssid = "NguyenTuong";
const char* password = "064897435";

#define LED 16

int rotation_value; //value of rotation from local web
//-----------------------position control
const byte pin_a = 4;   //for encoder pulse A
const byte pin_b = 5;   //for encoder pulse B
const byte pin_fwd = 12; //for H-bridge: run motor forward
const byte pin_bwd = 13; //for H-bridge: run motor backward
const byte pin_pwm = 14; //for H-bridge: motor speed
int encoder_r = 0;
int encoder_f = 0;
int position_pv = 0;
int position_sv = 0;
int m_direction = 0;

// Create AsyncWebServer object on port 80
AsyncWebServer server(80);

const char index_html[] PROGMEM = R"rawliteral(
<!DOCTYPE HTML><html>
<head>
  <script src="jquery.min.js"></script>
  <script src="knob.js"></script>
        
  <meta name="viewport" content="width=device-width, initial-scale=1">
  
</head>

<body>
  <center>
  <h2>Motor position control</h2>
  <input type="text" class="dial" value="1" data-displayPrevious=true data-fgColor="#00A8A9" data-thickness=.6>
  </center>

  <script>
    $(".dial").knob({
        'change' : function (v) { console.log(Math.round(v,0));    
    $.ajax({url: "/setLOCATION?rotation="+Math.round(v,0), success: function(result){
            $("#div1").html(result);
        }});
  }
    });
  </script>

</body>
</html>)rawliteral";


void setup(){
  //---------declaration for position control
  pinMode(pin_a,INPUT_PULLUP);
  pinMode(pin_b,INPUT_PULLUP);
  pinMode(pin_fwd,OUTPUT);
  pinMode(pin_bwd,OUTPUT);
  pinMode(pin_pwm,OUTPUT);
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_r, RISING);

  digitalWrite(pin_fwd,0);  //stop motor
  digitalWrite(pin_bwd,0);  //stop motor
  
  // Serial port for debugging purposes
  Serial.begin(115200);
  
  // Connect to Wi-Fi
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(1000);
    Serial.println("Connecting to WiFi..");
  }
  if(!SPIFFS.begin()){
        Serial.println("An Error has occurred while mounting SPIFFS");
        return;
  }

  // Print ESP32 Local IP Address
  Serial.println(WiFi.localIP());

  // Route for root / web page

  server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
    request->send_P(200, "text/html", index_html);
  });
  server.on("/jquery.min.js", HTTP_GET, [](AsyncWebServerRequest *request){
    request->send(SPIFFS, "/jquery.min.js", "text/javascript");
  });
  server.on("/knob.js", HTTP_GET, [](AsyncWebServerRequest *request){
    request->send(SPIFFS, "/knob.js", "text/javascript");
  });
  server.on("/setLOCATION",HTTP_GET, [](AsyncWebServerRequest *request){
    String ROTATION = request->getParam("rotation")->value();
    rotation_value = 1024 - (ROTATION.toInt())*10;
    Serial.print("rotation_value ");
    Serial.println(rotation_value);
    analogWrite(LED,rotation_value);  //adjust LED light on NodeMCU
    request->send(200, "text/plane","");
    
  });
  // Start server
  server.begin();
}
 
void loop(){
  analogWrite(pin_pwm,650); //set motor speed = 650/1024
  position_sv = (1024 - rotation_value)/10; //unit: % (e.g. 0% ~ 0dg; 100% ~ 360dg)
  position_pv = ((encoder_r+encoder_f)/2); //unit: %; encoder pulse per revolution: 200ppr
  if(position_pv-position_sv < 0){
      digitalWrite(pin_fwd,1);
      digitalWrite(pin_bwd,0);
    }
    else{
      if(position_pv-position_sv > 0){
        digitalWrite(pin_fwd,0);
        digitalWrite(pin_bwd,1);
      }
      else{
        //stop motor if position between +0 ~ -0
        digitalWrite(pin_fwd,0);  //stop motor
        digitalWrite(pin_bwd,0);  //stop motor
      }
    }
}

void detect_a_r() {
  m_direction = digitalRead(pin_b); //read direction of motor
  if(!m_direction){
    encoder_r += 1;   //increasing encoder at forward run
  }
  else{
    encoder_r += -1;  //decreasing encoder at backward run
  }
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_f, FALLING); //change interrupt to Falling edge
}
void detect_a_f() {
  m_direction = digitalRead(pin_b); //read direction of motor
  if(m_direction){
    encoder_f += 1; //increasing encoder at forward run
  }
  else{
    encoder_f += -1; //decreasing encoder at backward run
  }
  attachInterrupt(digitalPinToInterrupt(pin_a), detect_a_r, RISING);  //change interrupt to Rising edge
}

Credits

engineer2you

24 projects • 93 followers

i'm mechatronics engineer who loves making funny project and sharing for you. See me at: https://www.youtube.com/c/engineer2you

DC Motor Position Control

Things used in this project

Hardware components

Story

Step 1: Hardware Needed

Step 2: Circuit Design

Step 3: Arduino Code Works

Step 4: Load the Code to NodeMCU

Step 5: Test It

Schematics

12_circuit_1_Qufw6p0DGe.png

Code

code arduino

Credits

engineer2you

Comments

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DC Motor Position Control

DC Motor Position Control

Things used in this project

Hardware components

Story

Step 1: Hardware Needed

Step 2: Circuit Design

Step 3: Arduino Code Works

Step 4: Load the Code to NodeMCU

Step 5: Test It

Schematics

12_circuit_1_Qufw6p0DGe.png

Code

code arduino

Credits

engineer2you

Comments

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