The Enhancement of a Multi-Terrain Mechatron for Autonomous Outdoor Applications
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3.5.3 Handheld Controller
To perform initial testing and functionality verification of the motor drivers a
manually operated hand held controller was developed. The device models the simple
interfacing requirements detailed in section 3.5.2, consisting of two 10 kΩ
potentiometers for velocity control. Switches for power control are connected to the
"Key switch" pin via an LED through to 24 V and 10 kΩ resistors are connected in
parallel with the pots to meet the 5 kΩ criteria as the exact devices were not available.
Each group of controls interfaces to one of the motor driver units providing
independent differential control of the drive motors. A green LED indicates when
power is activated and also acts as the status feedback to flash error codes if they are
present. Motor control is achieved by rotating the potentiometer knobs from the centre
point in the desired direction of rotation, clockwise for forwards drive and anti-
clockwise for reverse.
Figure 3.25 Handheld motor driver controller
3.5.4 Programming
The onboard microcontroller allows custom programming of the drive characteristics
to improve performance and best suit the intended application. Two versions of the
handheld programmer are available giving different levels of access to the settings.
The “Dealer” version allows modification of simple drive parameters such as velocity
and acceleration while the “Manufacturer” version also allows customization of
Status/Power LEDs
Power switches
Velocity control
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