From Ywiki

This project is part of a little robot I'm working on for a hobby. This robot has two sets of motors. They both have to driven with a individual h-bridge.

Contents 1 Hardware 1.1 Schematics 1.1.1 Microcontroler 1.1.2 Motor driver 1.2 PCB 2 software

Hardware

Schematics

The schemetics can be devided in two parts. The first part is the Microcontroller, which is responsible for recieving I2C messages and generating PWM signals. The second part is the motor driver, which drives the two pair of motors.

Microcontroler

For the microntroller I used a PIC16F690. This controller has a few features why I've choosing this one:

• Internal RC oscilator
• Low cost
• I2C support
• 4 PWM outputs

Motor driver

For the motor driver I've choosen a L298 motor driver. This is a dual reversible motor driver. Why I've choosing this one:

• Easy to control
• Single component
• Low cost
• Overheat/current protected
• Drive up 2A per h-bridge

Each pair of motors has its own screw connectors. I2C, power and other signals are connected via an 10-way connector. See schematics for details.

PCB

The PCB is a professional made one. I designed it myself and let manufacture in China. This way I get nice looking PCP whiteout high costs. A piece of aluminum is bolted to the L298 to prevent it from overheating. See pictures below:

software

I have uploaded the source file to this wiki. here I've also uploaded a compiled version of this software: here If you have any questions please send me an email. ‎