This post is the basic circuit wiring for the OROHA. This wiring only allows the wheels to rotate. The OROHA can move forward, backwards, turn in place, turn left, and turn right using only two wheels.
Since I am using the LattePanda Delta, I used the Arduino Leonardo that is built into the LattePanda Delta. Below is the pinout for the LattePanda Delta.
Also below is the pin configuration and Input/Output specification of the BLDC motor driver (GUX-9-400) used.
<Input/output parts of GUX-9-400 bldc motor driver>
<I/O Specifications for the GUX-9-400 bldc motor driver>
For detailed instructions, please refer to the attached manual.
Only pins 2, 3, 4, 5, 6, and 7 of the motor driver I/O are used in the default circuit. These are the minimum pins needed to start, stop, and adjust the speed of the motor. A LOW signal to pin 5 and a HIGH signal to pins 2, 6, and 7 will cause the motor to spin at full speed. The direction of rotation of the motor is controlled by applying a HIGH or LOW signal to pin 4. The speed of rotation of the motor is controlled by using a 0-5V voltage signal (or Arduino PWM) to pin 2
Below are circuit diagrams of the signaling between the Arduino and the motor driver. The Arduino code that can be used with these circuit diagrams is posted in another post.
<Signal circuit diagrams>
Below are the power supply circuit diagrams. As you can see from the hardware configuration, OROHA uses a 36V battery. The voltage characteristics of the battery can make it difficult to provide a stable voltage supply because it outputs a high voltage when it is heavily charged and a low voltage when it is heavily discharged. Therefore, I used a step-down converter to power the motor and circuit. Most step-down converters can supply a constant desired voltage (secondary) regardless of the supply voltage of the battery (primary). We used a 24V converter for the motors and a 12V converter for the LattePanda Delta. The LattePanda Delta can be powered through a dedicated adapter, but it can also be operated by supplying 12V power directly to the I/O pins.
<Power Circuit Diagrams>
<Connecting an actual circuit>
