TUNIS board description
Signal processing
In this section, the signal processing part of the board will be described.
TUNIS board - Analog inputs and outputs
Inputs
Caution
Analog and digital inputs of a STM32 microcontroller (included on the Nucleo board) operate on voltages between 0 and 3.3V. Otherwise inputs can lead to severe damages.
Outputs
DC Motor position control
In this section, the DC motor position control part of the board will be described.
TUNIS board - DC motor connector
Connection to the motor
During labworks, Pololu DC motor (3239 or 4843) are used. This gearmotor consists of a 12 V brushed DC motor combined with a 20.4:1 metal gearbox. A 48 CPR quadrature encoder is integrated on the motor shaft. It provides 979.62 counts per revolution of the gearbox’s output shaft.
More documentation is available at the Pololu website : POL3239 or POL4843
Pololu DC motor connector - From pololu.com
Color |
Function |
|---|---|
Red |
Motor power (connected to one motor terminal) |
Black |
Motor power (connected to the other motor terminal) |
Green |
Encoder GND |
Blue |
Encoder VCC (5V) |
Yellow |
Encoder A output |
White |
Encoder B output |
Power supplies
Caution
Pololu motors 3239 and 4843 support a voltage until 12V.