Servo Motor DIY controled by Raspberry-pi to I2C

• Directory
• Features
• Construction
• Installation
  • Step 1: Import Motor-Command Library
  • Step 2: Firmware Setting
• Usage
• History

• Doc/ Documentation
• firmware/ Skecth for download to Arduino
• Library_MotorDriver/  Library to order the card Engine to install in your IDE
• Library_I2C-Master_Python/   Library in Python to order M-Boxes in I2C

• Reach and maintain a position (Angle) at a constant given speed
• Receive position setpoint by I2C link
• Security in case of exceeding values:
  • Temperature
  • Power consumption
  • Blocking of the motor shaft
  • Activation of the sensor (on / off) inversely to the movement in progress
  • Return to normal operation once the value is below the trip threshold.
• Transmit the data following the command received by I2C:
  • State
  • Current position
  • Value of a given analog input
  • Value of registers Digital inputs
• Parameterization by I2C:
  • Sending configuration
  • Integration of a new configuration
• Saving / Loading Parameters in the EEPROM

Go to my tutorial Oui Are Makers
Wiring Diagram

You should import the control card library into the Arduino IDE: Sketch-> Import Library-> Add Library

Open the sketch firmware.ino
In USB connection, set the I2C address of your Mboxe to line #define SLAVE_ADRESS 0x14 You can enable debug mode to #define DEBUG false by passing it to 'true'. This will bring up the current position, setpoint position and PID calculations on a time scale in the Series monitor of your IDE. It is enough to subsequently COPY/PASTE this data in a spreadsheet and make a graph.
This graphical visualization will help you to find the best coefficients kp, kd and ki of your PID.
Details of the parameters in the document Parameter_M-BOXE.pdf

Once your construction and firmware settings have been made, connect your M-BOXE to the I2C bus.
As for power, I use an ATX molex 4P connector and a desktop power supply. It is important to separate the power supply from the motor from the Arduino power supply and the MC board.

The M-BOXE.py library in Library_I2C-Master_Python directory allows you to control your M-BOXE from the I2C bus. Detail of registers (command) I2C in document Register_M-BOXE.pdf

The programs M-Boxe Manager TK in graphic mode or M-Boxe Manager CL in command line are implementations of this library.

• History