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Published 20 hours ago • verified publisher icon Ezward

Support L293D

Open samuk opened this issue 2 years ago • 5 comments

Hi I'm working on a ESP32 open hardware bot: https://github.com/rosmo-robot/micro-bot/tree/master/Hardware/V2.11

Would your code support this hardware?

samuk avatar Sep 12 '22 08:09 samuk

I guess the biggest change would be hall encoders?

samuk avatar Sep 12 '22 10:09 samuk

Hall encoders need 2x pins each, so I don't think ESPcam has sufficient pins?

https://github.com/rosmo-robot/micro-bot/blob/master/Hardware/V2.11/Minisumo_V2.1.pdf

I'm one short I think, unless I can re-use TX/RX after flashing?

Edit: maybe it will work. I need 8 GPIO

samuk avatar Sep 13 '22 23:09 samuk

Maybe with https://www.aliexpress.com/item/1005004360195123.html

EVthNWr

samuk avatar Sep 15 '22 22:09 samuk

Sorry I have not responded, I've been focused on Donkeycar. I'm back on this project. Yes I have one of the new Esp32 cams as well and they have more pins.

With the older cam we can still use the hall encoder but we would only use one channel per wheel. Alternatively we could change the bot so that it could not reverse - that gives use two pins to use which could be used for the second encoder channel on each wheel; however the second encoder channel allows us to determine the direction of the motion, so it would not really get use much (or at all) because if we can't go in reverse then we don't need the encoder to be able to detect this and so a single channel encoder is fine.

Ezward avatar May 01 '23 21:05 Ezward

We can support the L293D with the current code I think because the L9110s and the L293D both use two PWM pins per motor to handle forward and reverse.

Ezward avatar May 01 '23 21:05 Ezward