Rotary Encoder can get motor position and speed. This feature of encoder is often used for PID algorithm.
Mecanum wheel often has some problem to move straight because of its irregular wheel shape. In this tutorial, we will write a program to use PID algorithm and make a Mecanum car moving straight.
Rotary Encoder Connection:
| Right Encoder |
OSOYOO Basic Board for Arduino |
| White wire(GND) |
GND |
| Yellow wire(C1) |
D52 |
| Green wire(C2) |
D53 |
| Blue wire(VCC) |
5V |
| Left Encoder |
OSOYOO Basic Board for Arduino |
| White wire(GND) |
GND |
| Yellow wire(C1) |
D50 |
| Green wire(C2) |
D51 |
| Blue wire(VCC) |
5V |
Model Y control Pins are same as previous projects:
Motor Connections:
In this project, the motor connection are different from previous lessons,
Move rear-left motor rom AK3 to BK4
Move rear-right motor from AK1 to BK2
After above change, the new motor connections are:
Front-Right motor to BK1
Rear-Right motor to BK2
Front-Left motor to BK3
Rear-Left motor to BK4
All AK1,2,3,4 slot has no motor connections
Software Download:
https://osoyoo.com/driver/v5car/pid520.zip
Unzip and run above code, the car will move forward.
As PID algorithm is a little bit complicated to explain in detail, you need to do some research on PID theory and read above code carefully.
