[Oap-discuss] Wheel Motors run when sending Power ON command to MCM

[Aaron R. <aar...@gm...>]

Hi All,

I was wondering if someone could help me with my final configuration of my
robot.  I'm really close at this point, but the Motor Control Module is not
fully working.  When I power the robot up the wheel motors chirp and then
the robot sits in an idle state, which is what I would expect.  If I issue
the "oap-motor r" command to read the status from the Motor Control Module,
it reports:

ODOMETER COUNTER STATUS
 Left count : 0
 Right count: 0
 Timer count: 235
Left PWM duty cycle: 128 (50%)
Right PWM duty cycle: 128 (50%)
Timer count: 236
PWM power state: Low Power
Encoder XOR mask byte setting: 255

When I turn the MCM power level to on, though, with the "oap-motor n"
command, the robot immediately starts spinning in a circle (one wheel
running forward, the other running backwards), which is not what I would
expect.  I'm not expecting the robot to move unit I issue a forward command
like "oap-motor s 150 150".  I figured the issue must be a wiring problem
between the Motor Control Module and the Magnevation Motor Driver, but I've
verified that the connections are as described here on the
oap.sourceforge.site:


   - Pin 23: GND - to pin 4 of CONN3 on the Motor Control Module
   - Pin 24: GND - to pin 8 of CONN3 on the Motor Control Module
   - Pin 27: Left PWM - to pin 1 of CONN3 on the Motor Control Module
   - Pin 29: Right PWM - to pin 5 of CONN3 on the Motor Control Module
   - Pin 34: Left Direction - to pin 2 of CONN3 on the Motor Control Module
   - Pin 36: Right Direction - to pin 6 of CONN3 on the Motor Control Module
   - Pin 38: Left Brake - to pin 3 of CONN3 on the Motor Control Module
   - Pin 40: Right Brake - to pin 7 of CONN3 on the Motor Control Module

Does anyone know what might be causing the issue?

Aaron