135 lines
5.8 KiB
HTML
135 lines
5.8 KiB
HTML
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
|
<html xmlns:v="urn:schemas-microsoft-com:vml"
|
|
xmlns:o="urn:schemas-microsoft-com:office:office"
|
|
xmlns:w="urn:schemas-microsoft-com:office:word"
|
|
xmlns:m="http://schemas.microsoft.com/office/2004/12/omml"
|
|
xmlns:st1="urn:schemas-microsoft-com:office:smarttags"
|
|
xmlns="http://www.w3.org/TR/REC-html40">
|
|
<head>
|
|
<meta http-equiv="Content-Type"
|
|
content="text/html; charset=windows-1252">
|
|
<meta name="ProgId" content="Word.Document">
|
|
<meta name="Generator" content="Microsoft Word 14">
|
|
<meta name="Originator" content="Microsoft Word 14">
|
|
<base target="_parent">
|
|
<link rel="Edit-Time-Data" href="index_files/editdata.mso">
|
|
<title>Motor Test</title>
|
|
<o:smarttagtype
|
|
namespaceuri="urn:schemas-microsoft-com:office:smarttags" name="place"></o:smarttagtype><o:smarttagtype
|
|
namespaceuri="urn:schemas-microsoft-com:office:smarttags"
|
|
name="PlaceName"></o:smarttagtype>
|
|
<o:smarttagtype
|
|
namespaceuri="urn:schemas-microsoft-com:office:smarttags"
|
|
name="PlaceType"></o:smarttagtype>
|
|
<link rel="themeData" href="index_files/themedata.thmx">
|
|
<link rel="colorSchemeMapping"
|
|
href="index_files/colorschememapping.xml">
|
|
<style>
|
|
</style>
|
|
</head>
|
|
<body style="background-color: white;" alink="#0000ff" lang="EN-US"
|
|
link="blue" vlink="#c40026">
|
|
<div class="WordSection1">
|
|
<p style="text-align: center;" align="center"><span
|
|
style="font-size: 18pt;">Motor Test</span><br>
|
|
<table class="MsoNormalTable"
|
|
style="border: 3pt outset ; background: rgb(255, 204, 153) none repeat scroll 0% 50%; -moz-background-clip: initial; -moz-background-origin: initial; -moz-background-inline-policy: initial; width: 100%;"
|
|
border="1" cellpadding="0" width="100%">
|
|
<tr>
|
|
<td>
|
|
<p><b><span style="font-size: 18pt;">Readme</b></span>
|
|
<br> <br>
|
|
This is a C language project that demonstrates the RTOS robot motors.
|
|
<br> <br>
|
|
Derived from Texas Instrument code
|
|
<ul>
|
|
<li>timx_timer_mode_pwm_edge_sleep_LP_MSPM0G3507_nortos_ticlang</li>
|
|
</ul>
|
|
|
|
</td>
|
|
|
|
</tr>
|
|
</table>
|
|
</p>
|
|
<p class="PictureWide"><span lang="en-US"><img src="../RTOS_Labs_common/Servo_G6.png" width="500"
|
|
></span></p>
|
|
<table class="MsoNormalTable"
|
|
style="border: 3pt outset ; background: rgb(252, 243, 144) none repeat scroll 0% 50%; -moz-background-clip: initial; -moz-background-origin: initial; -moz-background-inline-policy: initial; width: 100%;"
|
|
border="1" cellpadding="0" width="100%">
|
|
<tbody>
|
|
<tr>
|
|
<td>
|
|
<p><b><span style="font-size: 18pt;">Hardware Required</b></span>
|
|
<br>
|
|
<ul>
|
|
<li>MSPM0G3507 LaunchPad™ Development Kit (LP-MSPM0G3507)</li>
|
|
<li>ECE445M Robot Motor board</li>
|
|
</ul>
|
|
<b><span style="font-size: 18pt;">Pin assignments</b></span>
|
|
<br>
|
|
<ul>
|
|
<li>Output: PB4 Mode4 TIMA1_C0 Left Motor, IN2, PWM low for forward, GPIO high for reverse</li>
|
|
<li>Output: PB1 Mode4 TIMA1_C1 Left Motor, IN1, GPIO high for forward, PWM low for reverse</li>
|
|
<li>Output: PB8 Mode4 TIMA0_C0 Right Motor, IN2, PWM low for forward, GPIO high for reverse</li>
|
|
<li>Output: PB9 Mode4 TIMA0_C1 Right Motor, IN1, GPIO high for forward, PWM low for reverse</li>
|
|
<li>Output: PB6 Mode7 TIMG6_C0 Steering Servo PWM high 20ms period</li>
|
|
<li>Output: PA0 is red LED1, index 0 in IOMUX PINCM table</li>
|
|
<li>Output: PB22 is blue LED2, index 49 in IOMUX PINCM table</li>
|
|
<li>Output: PB26 is red LED2, index 56 in IOMUX PINCM table</li>
|
|
<li>Output: PB27 is green LED2, index 57 in IOMUX PINCM table</li>
|
|
<li>Input: PA18 is S2 positive logic switch, index 39 in IOMUX PINCM table</li>
|
|
<li>Input: PB21 is S3 negative logic switch, index 48 in IOMUX PINCM table</li>
|
|
</ul>
|
|
<b><span style="font-size: 18pt;">LaunchPad Jumpers</b></span>
|
|
<br>
|
|
<ul>
|
|
<li>Remove 3.3V J101 jumper to run RTOS motor board</li>
|
|
<li>A two-pin female header is required on the LaunchPad TP10(XDS_VCC) and TP9(!RSTN)</li>
|
|
<li>Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26</li>
|
|
<li>J4: Connects PA0 to red LED</li>
|
|
<li>J5: Connects PB22 to blue LED2</li>
|
|
<li>J6: Connects PB26 to red LED2</li>
|
|
<li>J7: Connects PB27 to green LED2</li>
|
|
</ul>
|
|
</p> </td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
|
|
</body>
|
|
</html>
|
|
<p>
|
|
Simplified BSD License (FreeBSD License)
|
|
Copyright © 2026, Jonathan Valvano, All rights reserved.<br>
|
|
<br>
|
|
Redistribution and use in source and binary forms, with or without modification,
|
|
are permitted provided that the following conditions are met:<br>
|
|
<ol>
|
|
<li>Redistributions of source code must retain the above copyright notice,
|
|
this list of conditions and the following disclaimer.</li>
|
|
<li>Redistributions in binary form must reproduce the above copyright notice,
|
|
this list of conditions and the following disclaimer in the documentation
|
|
and/or other materials provided with the distribution.</li></ol>
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
|
|
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.<br>
|
|
<br>
|
|
The views and conclusions contained in the software and documentation are
|
|
those of the authors and should not be interpreted as representing official
|
|
policies, either expressed or implied, of the FreeBSD Project.
|
|
<br>
|
|
</p>
|
|
<p>For more information, see <a href="http://users.ece.utexas.edu/~valvano/">
|
|
http://users.ece.utexas.edu/~valvano/</a>.
|
|
</p>
|
|
</div>
|
|
</body>
|
|
</html> |