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IBT-2 H-Bridge module with two BTS7960 chips

 
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PrinceNai



Joined: 31 Oct 2016
Posts: 446
Location: Montenegro

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IBT-2 H-Bridge module with two BTS7960 chips
PostPosted: Fri Feb 24, 2023 11:01 am     Reply with quote

I bought myself this module and gave it a try. Works as advertised Very Happy

Code:

/* IBT-2 H-Bridge module is a high power motor driver based on two BTS7960 chips.

It has 6 control pins:

R_IS  forward drive alarm output - side current, not used
L_IS  backward drive alarm output - side current, not used
R_EN  forward drive enable, active HIGH
L_EN  backward drive enable, active HIGH
R_PWM  forward PWM or HIGH to rotate RIGHT
L_PWM  backward PWM or HIGH to rotate LEFT

...............................................................
Control logic works from 3,3V to 5V.
...............................................................
Rotation (right and left are subjective):

R_EN and L_EN are both driven HIGH.
Two hardware PWM signals from PIC connected to R_PWM and L_PWM.
If RIGHT rotation is desired, L_PWM is LOW and PWM signal is fed to R_PWM.
If LEFT rotation is desired, R_PWM is LOW and PWM signal is fed to L_PWM.
Speed is somewhat proportional to PWM duty cycle.

Stop:

Both R_EN and L_EN driven low, PWM disabled on both streams.
...............................................................
*/

#include <18F46K22.h>
#device ADC=10
#FUSES NOWDT, NOPUT                                            //No Watch Dog Timer, NOPUT for debug
// #FUSES PUT

#device ICD=TRUE

#use delay(internal=32000000)

#USE PWM(OUTPUT=PIN_C2, FREQUENCY=8005Hz, DUTY=0, stream  = RIGHT, PWM_ON)    // CCS complains on 8000Hz with resolution of 9,97 bits. This gives full 10 bit PWM resolution.
#USE PWM(OUTPUT=PIN_C1, FREQUENCY=8005Hz, DUTY=0, stream  = LEFT, PWM_ON)     // 8kHz PWM, period 125us

// ****************************************************************************

int16 SPEED = 0;

#DEFINE  R_EN PIN_B0
#DEFINE  L_EN PIN_B1
#DEFINE  R_PWM PIN_C2
#DEFINE  L_PWM PIN_C1

// *********************** FUNCTIONS **************************

void MOTOR_RIGHT(int16 SPEED_OF_MOTOR){
   output_high(L_EN);
   output_high (R_EN);
   pwm_off(LEFT);                                              // turn off LEFT PWM
   output_low(L_PWM);                                          // drive pin LOW
   pwm_on(RIGHT);                                              // start RIGHT PWM
   pwm_set_duty_percent(RIGHT, SPEED_OF_MOTOR);                // set PWM1 duty cycle percentage to SPEED, 0 - 1000
}

// ............................................................

void MOTOR_LEFT(int16 SPEED_OF_MOTOR){                         // same as above, other direction
   output_high(R_EN);
   output_high (L_EN);
   pwm_off(RIGHT);
   output_low(R_PWM);                                          // turn OFF right PWM                           
   pwm_on(LEFT);
   pwm_set_duty_percent(LEFT, SPEED_OF_MOTOR);                 // set PWM2 duty cycle percentage
}

// ............................................................

void MOTOR_STOP (void){
   output_low(R_EN);                                           // stop the motor
   output_low(L_EN);
   pwm_off(RIGHT);
   pwm_off(LEFT);
}

// ******************* END OF FUNCTIONS ***********************

void main(){
   while(TRUE){
// play some with the motor. If you use a big one, bolt it down :-)
      SPEED = 0;                                               // ramp up speed right and left
      while (SPEED <= 1010){
         MOTOR_RIGHT(SPEED);
         SPEED = SPEED + 10;
         delay_ms(50);     
      }
           
      MOTOR_STOP();
      delay_ms(50);
     
      SPEED = 0;
      while (SPEED <= 1010){
         MOTOR_LEFT(SPEED);
         SPEED = SPEED + 10;
         delay_ms(50);     
      }
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_RIGHT(1000);                                       // full-on right
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_LEFT(1000);                                        // full-on left
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_RIGHT(500);                                        // half speed right
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_LEFT(500);                                         // half speed left
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);       
     
   }        // while TRUE

}           // MAIN
PrinceNai



Joined: 31 Oct 2016
Posts: 446
Location: Montenegro

View user's profile Send private message

PostPosted: Sun Feb 26, 2023 10:43 am     Reply with quote

Added the ability to control the motor via a pot on AN0.

Code:

/* IBT-2 H-Bridge module is a high power motor driver based on two BTS7960 chips.

It has 6 control pins:

R_IS  forward drive alarm output - side current, not used
L_IS  backward drive alarm output - side current, not used
R_EN  forward drive enable, active HIGH
L_EN  backward drive enable, active HIGH
R_PWM  forward PWM or HIGH to rotate RIGHT
L_PWM  backward PWM or HIGH to rotate LEFT

...............................................................
Control logic works from 3,3V to 5V.
...............................................................
Rotation (right and left are subjective):

R_EN and L_EN are both driven HIGH.
Two hardware PWM signals from PIC connected to R_PWM and L_PWM.
If RIGHT rotation is desired, L_PWM is LOW and PWM signal is fed to R_PWM.
If LEFT rotation is desired, R_PWM is LOW and PWM signal is fed to L_PWM.
Speed is somewhat proportional to PWM duty cycle.

Stop:

Both R_EN and L_EN driven low, PWM disabled on both streams.
...............................................................
*/
#include <18F46K22.h>
#device ADC=10
#FUSES NOWDT, NOPUT                                            //No Watch Dog Timer, NOPUT for debug
// #FUSES PUT
#device ICD=TRUE

#use delay(internal=32000000)

#USE PWM(OUTPUT=PIN_C2, FREQUENCY=8005Hz, DUTY=0, stream  = RIGHT, PWM_ON)    // CCS complains on 8000Hz with resolution of 9,97 bits. This gives full 10 bit PWM resolution.
#USE PWM(OUTPUT=PIN_C1, FREQUENCY=8005Hz, DUTY=0, stream  = LEFT, PWM_ON)     // 8kHz PWM, period 125us
#use rs232(UART1,baud=19200, bits = 8, parity=N,stream = DEBUG,errors)        // output RAW ADC readings

// ****************************************************************************

#DEFINE  R_EN PIN_B0
#DEFINE  L_EN PIN_B1
#DEFINE  R_PWM PIN_C2
#DEFINE  L_PWM PIN_C1


// ********************** VARIABLES ***************************
int16 SPEED = 0;                                               // desired speed of the motor, 0 - 1000
int16 ADC_VAL = 0;                                             // ADC reading
signed int32 Temp = 0;                                         // used to transform ADC readings to speed and direction info

// *********************** FUNCTIONS **************************

void MOTOR_RIGHT(int16 SPEED_OF_MOTOR){
   output_high(L_EN);
   output_high (R_EN);
   pwm_off(LEFT);                                              // turn off LEFT PWM
   output_low(L_PWM);                                          // drive pin LOW
   pwm_on(RIGHT);                                              // start RIGHT PWM
   pwm_set_duty_percent(RIGHT, SPEED_OF_MOTOR);                // set PWM1 duty cycle percentage to SPEED, 0 - 1000
}

// ............................................................

void MOTOR_LEFT(int16 SPEED_OF_MOTOR){                         // same as above, other direction
   output_high(R_EN);
   output_high (L_EN);
   pwm_off(RIGHT);
   output_low(R_PWM);                                          // turn OFF right PWM                           
   pwm_on(LEFT);
   pwm_set_duty_percent(LEFT, SPEED_OF_MOTOR);                 // set PWM2 duty cycle percentage
}

// ............................................................

void MOTOR_STOP (void){
   output_low(R_EN);                                           // stop the motor
   output_low(L_EN);
   pwm_off(RIGHT);
   pwm_off(LEFT);
}

// ............................................................

int16 READ_AN0 (void){
   int16 val;
   set_adc_channel(0);
   delay_us(3);
   val = read_adc();                                           // values from 0 - 1023
   fprintf(DEBUG, "\n\rADCraw:%lu", val);                      // print raw ADC values to debug port
   return val;
}

// ******************* END OF FUNCTIONS ***********************

void main(){
//TAD must be at last 1us
   setup_adc_ports(sAN0, VSS_VDD);
   setup_adc(ADC_CLOCK_DIV_32 | ADC_TAD_MUL_20);               // TAD 1us, acq. time 20us

// ............................................................

   while(TRUE){
// play some with the motor. If you use a big one, bolt it down :-)
      SPEED = 0;                                               // ramp up speed right and left
      while (SPEED <= 1010){
         MOTOR_RIGHT(SPEED);
         SPEED = SPEED + 10;
         delay_ms(50);     
      }
           
      MOTOR_STOP();
      delay_ms(50);
     
      SPEED = 0;
      while (SPEED <= 1010){
         MOTOR_LEFT(SPEED);
         SPEED = SPEED + 10;
         delay_ms(50);     
      }
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_RIGHT(1000);                                       // full-on right
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_LEFT(1000);                                        // full-on left
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_RIGHT(500);                                        // half speed right
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50);
     
      MOTOR_LEFT(500);                                         // half speed left
      delay_ms(2000);
     
      MOTOR_STOP();
      delay_ms(50); 
     
// Run the motor via a pot on AN0. Pot on min. or max. gives full speed in both directions,
// slows the motor towards the middle, stops the motor in the middle
      while(1){
         ADC_VAL = READ_AN0();                                 // values from 0 - 1023

// LEFT rotation
// Transform ADC reading so that a reading of 0 from pot gives full speed and 448 stops the motor
         if(ADC_VAL <= 448){                                   // LEFT rotation, lower 448 steps of the ADC
            Temp = (int32)ADC_VAL - 448;                       // 0 => -448, 448 => 0
            Temp = Temp*(-1);                                  // get positive values, 0 => 448 , 448 => 0
            Temp = Temp * 1000;                                // transform Temp to 0 - 1000 for SPEED PWM
            Temp = Temp/448;
            SPEED = (int16)TEMP;                               // casting is important, without that values are not correct!
            MOTOR_LEFT(SPEED);       
         }
// RIGHT rotation
         else if (ADC_VAL >= 575){                             // RIGHT rotation, upper 448 steps of the adc
            ADC_VAL = ADC_VAL - 575;                           // transform to 0 - 448
            Temp = (int32)ADC_VAL * 1000;                      // transform ADC reading to 0 - 1000 for SPEED PWM
            Temp = Temp/448;
            SPEED = (int16)TEMP;
            MOTOR_RIGHT(SPEED);
         }
         
         else{                                                 // motor STOP in between, ADC from 449 - 574
            MOTOR_STOP();
         }
         delay_ms(100);
      }     // while loop
     
   }        // while TRUE

}           // MAIN
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