Cornerstone Robotics, Gainesville FL

The programs on this page use an encoder to monitor and control the position of a small DC motor.

Motor and Encoder Used: DCMTR-203, Small 12-24V DC Motor w/ 16 or 35 Slots in the Encoder Wheel. Available at: http://www.encodergeek.com/DCMtr_SMALL.html

Motor Controller Used: Xavien 2 Motor Driver "XDDCMD-1. Available at: http://www.encodergeek.com/Xavien_Amplifier.html

Reference Book: Running Small Motors with PIC Microcontrollers by Harpit Singh Sandhu (Chapter 15)

Program Name	Program Description	Schematic for Code	Code as .pdf file	Download PicBasic Pro Code as .pbp File
encoder1	Uses encoder to track position of motor	Schematic	Code PDF file	4331_encoder1.pbp
encoder2	Sets target position, monitors current position, and rotates motor to target position	Schematic	Code PDF file	4331_encoder2.pbp
encoder3	Slows motor as it approaches target position	Schematic	Code PDF file	4331_encoder3.pbp
encoder4	Ramps-up and ramps-down motor power.	Schematic	Code PDF file	4331_encoder4.pbp
encdr4_wo	encoder4 program without comments	Schematic	Code PDF file	4331_encdr4_wo.pbp
rpm	Program uses Timer0 Interrupt to average motor rpm over one minute	Schematic	Code PDF file	4331_rpm.pbp