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Badri Complete Report

Badri Complete Report

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Published by Pradeesh Vasudevan

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Published by: Pradeesh Vasudevan on Jul 18, 2011
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12/11/2012

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SARDAR PATEL COLLEGE OF ENGINEERING

- 36 -

INTELLIGENT PATH FINDER__________________________________________

Motor Controller:

The motor controller is responsible for taking appropriate logic signals from the
uC , and power from the power controller, controlling both motors accordingly. The
motor controller is capable of independently controlling each motor, in a stopped
condition, forwards or backwards optionally at different speeds using the onboard
commands from the uC.

This circuit can control the two small DC motors, in the robot. When both the
points A & B are "HIGH" Q1 and Q2 are in saturation. Hence the bases of Q3 to Q6 are
grounded. Hence Q3,Q5 are OFF and Q4,Q6 are ON . The voltages at both the motor
terminals are the same and hence the motor is OFF. Similarly when both A and B are
"LOW" the motor is OFF. When A is HIGH and B is LOW, Q1 saturates, Q2 is OFF.
The bases of Q3 and Q4 are grounded and that of Q4 and Q5 is HIGH. Hence Q4 and Q5
conduct making the right terminal of the motor more positive than the left and the motor
is ON. When A is LOW and B is HIGH, the left terminal of the motor is more positive

SARDAR PATEL COLLEGE OF ENGINEERING

- 37 -

INTELLIGENT PATH FINDER__________________________________________

than the right and the motor rotates in the reverse direction. The diodes protect the
transistors from surge produced due to the sudden reversal of the motor. Two such
circuits are required to control the robot. These are the following action that the robot
would result on the requisite motor status.

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