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2. Contacting Pololu

You can check the

TReX motor controller page

[http://www.pololu.com/catalog/product/777]

for additional information.

We would be delighted to hear from you about any of your projects and about your experience with the TReX motor
controller. You can

contact us

[http://www.pololu.com/contact]

directly or post on our

forum

[http://forum.pololu.com/]

Tell us what we did well, what we could improve, what you would like to see in the future, or anything else you
would like to say!

Pololu TReX User's Guide

2. Contacting Pololu

Page 3 of 22

Содержание DMC01

Страница 1: ...General RC Information 13 4 d General Analog Information 13 4 e Safe Start Mode 14 5 The Serial Interface 15 5 a Serial Communication Settings 15 5 b Serial Command Protocols 15 5 c Serial Command Li...

Страница 2: ...ermines whether the motors are controlled by the channel inputs or the serial interface this channel allows you to switch between autonomous and human control at will The serial interface can switch i...

Страница 3: ...your projects and about your experience with the TReX motor controller You can contact us http www pololu com contact directly or post on our forum http forum pololu com Tell us what we did well what...

Страница 4: ...through the VIN GND connector terminals VIN should be between 6 and 16 V and your power source must be able to supply the current your motors will be drawing The TReX can supply peaks of 30 A and up...

Страница 5: ...to ensure you do not solder the diode in backwards You should not solder a diode to your bidirectional motors You may find it beneficial to solder 0 1uF capacitors across all of your motors terminals...

Страница 6: ...ure you remove the BEC jumper Warning This middle Vcc column is tied to the output of a linear voltage regulator so current output is limited by thermal dissipation The regulator will only be able to...

Страница 7: ...ls motor 2 This jumper may be added or removed on the fly Battery Elimination Circuit BEC a k a Vcc Jumper When this jumper is in place the middle column of channel input pins is connected to Vcc 5 V...

Страница 8: ...r LED is located on the top board When it is brightly illuminated the TReX is receiving power and is running Note that the power LED can occasionally glow dimly when the TReX is unpowered if it is con...

Страница 9: ...dicates that serial is in control of the motors i e serial override is active or the TReX is in serial mode While serial is in control of the motors the green LED acts as a serial packet received indi...

Страница 10: ...microcontroller Ungrounding the SO pin will cause the TReX to startup as normal removing the mix jumper will put the TReX into firmware upgrade mode which will cause the red and green LEDs to start al...

Страница 11: ...ess or if the channel variance is too large the TReX will not learn the channel Learning mode phase 2 neutral learning report Once phase one is through the TReX will flash its status LEDs five times t...

Страница 12: ...nnel value falls below a certain threshold If your controller is not calibrated this channel may not function as intended Channel 5 Enable disable serial override Serial override gives serial control...

Страница 13: ...will stop updating until approximately 150 ms elapse at which point the channel s raw value will become 0xFFFF It will remain as such until valid signals are once again detected on the line As a safet...

Страница 14: ...be simultaneously met 1 All required channels must have a valid signal This only applies when the TReX is in RC mode since it s not possible to have an invalid analog signal Required channels are dete...

Страница 15: ...ands result in two way data transfer An additional consequence of the RS 232 circuit is everything you send to the TReX using the RS 232 connection will be echoed back to you as you re transmitting it...

Страница 16: ...l is compatible with the serial protocol used by our other serial motor and servo controllers As such you can daisy chain a TReX on a single serial line along with our other serial controllers includi...

Страница 17: ...rks is beyond the scope of this document but you can find a wealth of information using Wikipedia http en wikipedia org wiki Cyclic_redundancy_check The quick version is that a CRC computation is basi...

Страница 18: ...a speed perspective You can find an example of this Section 5 f 5 f CRC Generation Algorithm in C The CRC algorithm is typically defined as a bit wise operation however it is possible to rewrite the a...

Страница 19: ...s It is possible to reset the TReX to its default serial settings using the following jumper sequence 1 Power off your TReX 2 Attach the channel mix jumper 3 Attach the learning mode firmware update j...

Страница 20: ...s this will increase the rate at which you can communicate with and control your TReX Updating Firmware To update the firmware you need to put your TReX into firmware update mode and then send the new...

Страница 21: ...initiate the firmware update If all goes correctly you will be prompted to confirm that you want to erase your current firmware and you will then see a progress bar showing you the status of the uploa...

Страница 22: ...mpleted the 8 steps above so that the green status LED is flashing once per second you are ready to upload the new firmware file First transmit the character s This will erase the current firmware Nex...

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