diff --git a/docs/assembly/steering/bom.yaml b/docs/assembly/steering/bom.yaml index 56d3e16..bd0e902 100644 --- a/docs/assembly/steering/bom.yaml +++ b/docs/assembly/steering/bom.yaml @@ -1,35 +1,38 @@ assembly: "steering" description: "Steering system components and electronics" components: - - id: "cytron_md30c" - part_number: "MD30C" - description: "30A H-bridge motor driver" + - id: "cytron_md25hv" + part_number: "MD25HV" + description: "25A high voltage H-bridge motor driver (7V-58V)" category: "electronics" quantity: 1 - unit_cost: 45.00 + unit_cost: 55.00 currency: "EUR" status: "active" criticality: "essential" suppliers: - name: "Cytron Technologies" - url: "https://www.cytron.io/p-30amp-5v-30v-dc-motor-driver" - verified: true - - name: "OpenCircuit ES" - url: "https://opencircuit.es/producto/30amp-5v-30v-dc-motor-driver" - notes: "Spanish distributor" + url: "https://www.cytron.io/p-25amp-7v-58v-high-voltage-dc-motor-driver" verified: true specifications: - continuous_current: "30A" - peak_current: "80A" - voltage_range: "5V-30V" - pwm_frequency: "20kHz" - control_voltage: "3.3V/5V" + continuous_current: "25A" + peak_current: "60A" + voltage_range: "7V-58V" + pwm_frequency: "40kHz input, 16kHz output" + control_voltage: "1.8V-30V" + aux_output: "5V @ 250mA" + features: + - "Discrete NMOS H-Bridge design" + - "Dual input modes: PWM/DIR or Potentiometer/Switch" + - "Overcurrent protection with active current limiting" + - "Temperature protection and undervoltage shutdown" documentation: - datasheet: "../../assets/datasheets/MD30C Users Manual.pdf" + datasheet: "https://docs.google.com/document/d/1xJHVG2dc3aEtedCHf3L9NzUy5KqpxeWjeS9Lfh9XuqA" github: "https://github.com/CytronTechnologies/CytronMotorDriver" tutorials: - "https://www.cytron.io/tutorial/controlling-md10c-with-arduino" - "https://www.instructables.com/Controlling-Motor-Speed/" + notes: "Rated for 13S battery (41.6V-54.6V) operation, replaces MD30C which was limited to 30V" - id: "steering_motor_24v" part_number: "STEERING-24V-MOTOR" diff --git a/docs/assembly/steering/h-bridge.md b/docs/assembly/steering/h-bridge.md index c4d2fd4..0275bd4 100644 --- a/docs/assembly/steering/h-bridge.md +++ b/docs/assembly/steering/h-bridge.md @@ -1,20 +1,20 @@ # H-bridge data -- **Cytron MD30C** (30 A cont, 80 A peak) - - - - Bought here to ship to Spain: - - - - - - - - - - +- **Cytron MD25HV** (25 A cont, 60 A peak, 7V-58V) + - Product page: + - Datasheet: + - GitHub library: + - Tutorial: + - Tutorial: + - **Note**: Upgraded from MD30C to support 13S battery (41.6V-54.6V). MD30C was limited to 30V max. ### Reasoning Suggested H-bridges by gpt: -- **Cytron MD30C** (30 A cont, 80 A peak) -- **Pololu VNH5019 Driver** (12 A cont, 30 A peak) - - -- ~~Sabertooth 2x32: Overkill but excellent for dual motors, up to 32 A per channel~~ -- ~~Simple BTS7960: Cheap dual half-bridge module, supports 43 A per channel, needs external PWM and logic control~~ +- **Cytron MD25HV** (25 A cont, 60 A peak, 7V-58V) - **CURRENT CHOICE** +- ~~**Cytron MD30C** (30 A cont, 80 A peak, 5V-30V) - Insufficient voltage rating for 13S battery~~ +- **Pololu VNH5019 Driver** (12 A cont, 30 A peak) + - +- ~~Sabertooth 2x32: Overkill but excellent for dual motors, up to 32 A per channel~~ +- ~~Simple BTS7960: Cheap dual half-bridge module, supports 43 A per channel, needs external PWM and logic control~~ - ~~IBT-4~~ - - Needs two synced pwm signals to control the H bridge, so it's harder to use. Otherwise it would work and it's cheaper \ No newline at end of file + - Needs two synced pwm signals to control the H bridge, so it's harder to use. Otherwise it would work and it's cheaper diff --git a/docs/assembly/steering/index.md b/docs/assembly/steering/index.md index 51831d0..831d23f 100644 --- a/docs/assembly/steering/index.md +++ b/docs/assembly/steering/index.md @@ -22,8 +22,9 @@ We need to move the steering shaft to the target angle. 1. Micro controller reads target position from main computer (Orin) and current position from the Hall effect sensor - Micro controller may be a Blue Pill, Teensy 4.0, or one with CAN transceiver builtin. 2. Calculates PWM % value with PID. Sends PWM 3.3V to H-bridge -3. H-bridge (MD30C) receives PWM and powers the DC motor - - ChatGpt said it can't work with 3.3V PWM, just 5V PWM, but the datasheet says otherwise [here](../../assets/datasheets/MD30C%20Users%20Manual.pdf) +3. H-bridge (MD25HV) receives PWM and powers the DC motor + - The MD25HV accepts control voltages from 1.8V-30V, so 3.3V PWM from ESP32 works perfectly + - [Datasheet](https://docs.google.com/document/d/1xJHVG2dc3aEtedCHf3L9NzUy5KqpxeWjeS9Lfh9XuqA) ## H-bridge data See [H-bridge](h-bridge.md) for more details. diff --git a/docs/assets/datasheets/MD30C Users Manual.pdf b/docs/assets/datasheets/MD30C Users Manual.pdf deleted file mode 100644 index 96d561f..0000000 Binary files a/docs/assets/datasheets/MD30C Users Manual.pdf and /dev/null differ