1. Design Concept Lab Testing
Magnetic Encoder vs. Potentiometer
H-Bridge
Direction
Microchip CAN Bus Analyzer Tool
dsPIC33E/dsPic33F
Motor
Torque Output using RC280 and XQ Gearbox

2. Magnetic Encoder vs. Potentiometer
Magnetic Encoder (12-bits 4096 positions)
μs variation when not moving
254Hz Period
Duty Cycle variation of %
Not moving Position varied by up to 64 Positions
Potentiometer
Uses 10-bit (or 12 bit) ADC
Used in most servos
Hollow Shaft Options

3. H-Bridge Tested on Breadboard and Demonstrated to Dr. Sahin
Corrected Error for Output dropping 2V.
Current Feedback is 1/375th of Motor Current
Measured across 100Ω resistor (and 1 μF Capacitor to reduce Noise)
Voltage range from
25mV (100 mA)
700 mV (2.5 A) –Trying to hold motor in stalled position

4. CAN Bus Monitor Monitors CAN bus traffic
Has the ability to send CAN messages
Tested using demo software uses two bus monitors to see how software works
See Video for dsPIC sending/receiving test CAN messages

5. dsPIC/Microstick II Programmer/Debugger
See Video to demonstrate ability to use all the different I/O that will be used
CAN
PWM input (for Position Control)
PWM output (for H-bridge)
Analog Input (Potentiometer, I-Feedback)
Digital Input (H Bridge Fault State)
Digital Output (H-Bridge)

6. RC280 Motor (Banebots)
Tested Motor Control and Current Usage with H-Bridge
Installed RC280 in XQ-Servo and used to test the Torque Output (used Power Supply and then 7.2V battery)
XQ-Servo has a gearbox ratio :1
Voltage (V)
Scale Reading (lb)
Torque (oz-in) 3
3.5
224 5
6.12
391.68
7.2
10.23
654.72
11.01
704.64
11.24
719.36