[Oap-discuss] Wheel Motors run when sending Power ON command to MCM
Status: Alpha
Brought to you by:
dwalters
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From: Aaron R. <aar...@gm...> - 2013-11-15 17:13:38
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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 |