Bi level stepper driver

At the 2007 Minos micromouse conference, Martin Barratt gave a talk about his stepper motor driving scheme. For best performance, steppers really need to be driven by a high voltage. However, the current will need to be limited to prevent the motor overheating. Normally this is done with dropper resistors which waste all the energy or with chopper drives that can be relatively complex. Martin has an alternative approach that provides the high voltage needed to produce fast step rates and the low current needed to reduce dissipation and keep the battery size under control.

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Encoder/Motor trouble

This micromouse thing is a bit tricky. I have not been happy with the accuracy of the results I have been getting with Decimus. Occasionally, a move is significantly shorter, or longer than intended. Looking at the code does not help – either the code is fine or I just follow the same thought process leading to the same errors every time I look. There is, however, something odd about the encoders.

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Decimus doing circuits

Decimus After a bit of a break, I have done some more work on Decimus, my DC micromouse. With all the peripherals tested and working, I have been concentrating on the motion controller or profiler. This has turned out to be harder than I expected. The basic idea is simple enough but the implementation turns out to be a bit tricky. Probably in part because I wanted it to be useable with Primus, the beginner’s stepper-driven micromouse.

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