MOTOR DRIVER

L293D

Developed by:
Krishna Nand Gupta
Prashant Agrawal
Mayur Agarwal

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DCMotor
Wheneveraroboticshobbyisttalkaboutmakingarobot,thefirstthingcomesto hismindis
making the robot move on the ground. And there are always two options in front of the
designerwhethertouseaDCmotororasteppermotor.Whenitcomestospeed,weight,size,
cost...DCmotorsarealwayspreferredoversteppermotors.Therearemanythingswhichyou
can do with your DC motor when interfaced with a microcontroller. For example you can
controlthespeedofmotor;youcancontrolthedirectionofrotation.
In this part of tutorial we will learn to interface and control of a DC motor with a
microcontroller.UsuallyHbridgeispreferredwayofinterfacingaDCmotor.Thesedaysmany
ICmanufacturershaveHbridgemotordriveravailableinthemarketlikeL293DismostusedH
Bridge driver IC. Hbridge can also be made with the help of transistors and MOSFETs etc.
ratherofbeingcheap,theyonlyincreasethesizeofthedesignboard,whichissometimesnot
requiredsousingasmall16pinICispreferredforthispurpose.

LeftMotor
Straight
Stop
Reverse
Straight
Straight
Reverse

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Differentialdrive
Byusingtwomotorswecanmoveourrobotinanydirection.Thissteeringmechanismofrobot
iscalledasdifferentialdrive.
Letscheckhowitworks

RightMotor
Straight
Straight
Straight
Stop
Reverse
Reverse

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RobotMovement
Straight
Left
Sharpleft
Right
SharpRight
Reverse


DCMotorwithGear

co

TheDCmotorsdonthaveenoughtorquetodrivearobotdirectlybyconnectingwheelsinit.
Gearsareusedtoincreasethetorqueofdcmotorontheexpenseofitsspeed.
Mathematicalinterpretation:
Rotationalpower(Pr)isgivenby:

Pr=Torque(T)*RotationalSpeed()
Thus

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PrisconstantforDCmotorforaconstantinputelectricalpower.Thustorque(T)isinversely
proportionalspeed().

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Thustoincreasethevalueoftorquewehavetoloosespeed.
Note:
Intoycar,thereisagearboxthatcontainsseveralcombinationsofgears.
Gearedmotorhasgearsboxatitsfront.

WorkingTheoryofHBridge

The name "HBridge" is derived from the actual shape of the switching circuit which
controls the motion of the motor. It is also known as "Full Bridge". Basically there are four
switchingelementsintheHBridgeasshowninthefigurebelow.

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Asyoucanseeinthefigureabovetherearefour
switchingelementsnamedas"Highsideleft","High
sideright","Lowsideright","Lowsideleft".When
theseswitchesareturnedoninpairsmotorchanges
itsdirectionaccordingly.Like,ifweswitchonHigh
sideleftandLowsiderightthenmotorrotatein
forwarddirection,ascurrentflowsfromP\power
supplythroughthemotorcoilgoestogroundvia
switchlowsideright.Thisisshowninthefigure
below.

TruthTable

HighRight

LowLeft

LowRight

Description

On

Off

Off

On

Motorrunsclockwise

Off

On

On

Off

Motorrunsanticlockwise

On

On

Off

Off

Motorstopsordecelerates

Off

Off

On

On

Motorstopsordecelerates

HighLeft

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Similarly,whenyouswitchonlowside
leftandhighsideright,thecurrent
flowsinoppositedirectionandmotor
rotatesinbackwarddirection.Thisis
thebasicworkingofHBridge.Wecan
alsomakeasmalltruthtableaccording
totheswitchingofHBridgeexplained
above.

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Asalreadysaid,HbridgecanbemadewiththehelpoftransistorsaswellasMOSFETs;theonly
thing is the power handling capacity of the circuit. If motors are needed to run with high
current then lot of dissipation is there. So head sinks are needed to cool the circuit.

NowyoumightbethinkingwhyIdidnotdiscussthecaseslikeHighsideleftonandLowside
leftonorhighsiderightonandlowsiderighton.Clearlyseeninthediagram,youdon'twantto
burnyourpowersupplybyshortingthem.Sothatiswhythosecombinationsarenotdiscussed
inthetruthtable.

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SowehaveseenthatusingsimpleswitchingelementswecanmakeourownHBridge,orother
optionwehaveisusinganICbasedHbridgedriver.

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L293DDualHBridgeMotorDriver

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L293D is a dual HBridge motor

driver, so with one IC we can
interface two DC motors which
can be controlled in both
clockwise and counter clockwise
direction and if you have motor
with fix direction of motion. You
can make use of all the four I/Os
to connect up to four DC motors.
L293D has output current of
600mAandpeakoutputcurrentof
1.2A per channel. Moreover for
protection of circuit from back
EMF output diodes are included
within the IC. The output supply (VCC2) hasawide rangefrom 4.5V to 36V, which has made
L293DabestchoiceforDCmotordriver.

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AsimpleschematicforinterfacingaDCmotorusingL293Disshownbelow.

Asyoucanseeinthecircuit,threepinsareneededforinterfacingaDCmotor(A,B,Enable).If
youwanttheo/ptobeenabledcompletelythenyoucanconnectEnabletoVCCandonly2pins
neededfromcontrollertomakethemotorwork.

Asperthetruthmentionedintheimageaboveitsfairlysimpletoprogramthemicrocontroller.
ItsalsoclearfromthetruthtableofBJTcircuitandL293D theprogrammingwillbesamefor
bothofthem,justkeepinginmindtheallowedcombinationsofAandB.

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InterfaceL293DwithAVR

FromHereItalkspecificallywithrespecttoourrobottocontrolamotorusingAVRwe
needtocontrol3pinsasshowninaboveA,Bandcorrespondingenable.Connectionsofmotor
toATmega8areasshownbelow.

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Soifyouwanttorunamotorinforwarddirectionyourcodewillbe

#include<avr/io.h>
intmain()
{

Step1Setpin2(PD0)andpin3(PD1)asoutputpin;

Step1Setpin15(PB1)asoutputpin;
Step2Send0atPD0and1atPD1;
Step3Send1atPB1;

While(1)
{
//doanyjobhere
}
Return0;
}

All4stepshererelatedtoinputoutputpinconfigurationofAVRsoIwillwritecodedirectlyfor
detailcheckI/Otutorial

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#include<avr/io.h>
intmain()
{
DDRD|=((1<<PORTD0)|(1<<PORTD1));

DDRB|=(1<<PORTB1);
PORTD|=1<<PORTD1;
PORTD&=~(1<<PORTD0);
PORTB|=(1<<PORTB1);

While(1)
{
//doanyjobhere
}
Return0;
}
Whatifyouwanttooscillatorymotion2secondforwardthento2secondreversethen2
secondbreak
#include<avr/io.h>
#include<avr/delay.h>
intmain()
{
DDRD|=((1<<PORTD0)|(1<<PORTD1));

DDRB|=(1<<PORTB1);
PORTB|=(1<<PORTB1);

uint8_ti;
While(1)
{//Forward

PORTD|=1<<PORTD1;

PORTD&=~(1<<PORTD0);

_delay_ms(100);
//reverse

PORTD|=1<<PORTD0;

PORTD&=~(1<<PORTD1);

_delay_ms(100);
//stop

PORTD&=~((1<<PORTD0)|(1<<PORTD1));

_delay_ms(100);
}
Return0;
}

~7~

MotorspeedcontrolusingPWM

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IfandonlyifyouhavegonethoughPWMtutorialproceedfurther.Supposeyouwantto
runmotorbyhalfoftheitsratingspeedthensend50%dutycyclesquarewaveatenablepin
effectivelyyouwillget50%ontinebutduetohighfrequencyandinertiamotorseemstorun
continuouslysocodewillbe
#include<avr/io.h>

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intmain()

DDRD|=((1<<PORTD0)|(1<<PORTD1));
DDRB|=(1<<PORTB1);
PORTD|=((0<<PORTD0)|(1<<PORTD1));
//########################PWMcodetoget50%dutycyclesquarewaveat
enable(PB1)
TCCR1A=0xA1;

OCR1A=128;
TCCR1B=0x04;
//#########################
While(1)
{
//doanyjobhere
}
Return0;
}

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HAPPYMOTORCONTROL
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