ActuatorPage - Revision history

Elcanoadmin: /* Linear actuator with Motor Control Shield */

2026-06-21T19:08:12Z

‎Linear actuator with Motor Control Shield

Elcanoadmin at 19:05, 19 June 2026

2026-06-19T19:05:22Z

Elcanoadmin at 19:04, 19 June 2026

2026-06-19T19:04:34Z

Elcanoadmin: /* Connections */

2026-06-19T19:02:49Z

‎Connections

Elcanoadmin: /* Drive System */

2026-06-19T19:01:56Z

‎Drive System

Elcanoadmin: /* Linear actuator with H-bridge */

2026-06-18T22:04:16Z

‎Linear actuator with H-bridge

Elcanoadmin: /* Linear servos */

2026-06-18T22:03:53Z

‎Linear servos

Elcanoadmin: /* Linear actuator with Motor Control Shield */

2026-06-18T21:51:00Z

‎Linear actuator with Motor Control Shield

Elcanoadmin: /* Linear servos */

2026-06-18T21:45:05Z

‎Linear servos

Elcanoadmin: /* Linear actuator with Motor Control Shield */

2026-06-18T21:42:49Z

‎Linear actuator with Motor Control Shield

@@ Line 68: / Line 68: @@
 The Motor Shield has signals for motor on/off (D9), direction (D12) and speed (D3). It can also read the current that the motor is drawing (A0) and software can adjust speed to keep it within limits. CAUTION: the analog signal is 0-5V but the Arduino Due must not have any input > 3.3V. It is probably necessary to cut A0 and A1 and route them to a voltage converter. Interface to the shield is on https://docs.arduino.cc/tutorials/motor-shield-rev3/msr3-controlling-dc-motor/#hardware--software-needed Steering is Motor A. The motor to lift the gate to decouple would be Motor B.
-The Vin line on Arduino cannot supply enough current for the steering motor. An external 12V supply needs to be connected to the motor shield.
+The Vin line on Arduino cannot supply enough current for the steering motor. An external 12V supply needs to be connected to the motor shield through the screw terminal. The other screw terminals drive the motors: (+,-) for motor A and (+,-) for motor B. The motor is controlled by swapping 12V and Ground between the (+,-) terminals to make it go one direction or the other.
 == Braking System ==

@@ Line 24: / Line 24: @@
 -- The controller supports driving the wheel in reverse.
-== Connections ==
+=== Connections ===
 The main drive connector on DBW v5 is an RJ45 connector. On the Power box, the signals are attached to wires to the Kelly controller, which have unique colors and numbers. The only signal currently used is Throttle. The pins are

@@ Line 5: / Line 5: @@
 ==Description and Function ==
 Elcano uses a linear actuator to control steering hardware.  Brake control had used a linear servo, but in Spring 2018, brake control was replaced by a Solenoid system. An electric bicycle controller drives the rear wheel.The recumbent Catrikes use a hub motor. The ELF used an electric motor that drives a chain on the left side of the vehicle. The ELF used a rotary servo for steering.
 == Drive System ==
@@ Line 122: / Line 111: @@
 As of version 3.0 the [[LowLevel]] board includes one on its brake output. We are using a pair of 1N400x series diodes rated for >50v and 1A (specifically 1N4001). This prevents extreme high voltage transients generated by switching the inductor from finding an inconvenient path to ground via our sensitive electronics. Quite a few relay shields have lost their driving transistors prior to the addition of these diodes.
 == Links and Resources ==

@@ Line 47: / Line 47: @@
 * 7: Speedometer: Green from Hall B (17)
 * 8: E-Bike alive: Purple (4) or Dark Grey (11)
-* Kelly Pink wire (7) must be attached to 36V or system is off
+*    Kelly Pink wire (7) must be attached to 36V or system is off
 == Steering System ==

← Older revision		Revision as of 19:01, 19 June 2026
Line 34:		Line 34:

	-- The controller supports driving the wheel in reverse.		-- The controller supports driving the wheel in reverse.
		+
		+	== Connections ==
		+
		+	The main drive connector on DBW v5 is an RJ45 connector. On the Power box, the signals are attached to wires to the Kelly controller, which have unique colors and numbers. The only signal currently used is Throttle. The pins are
		+
		+	* 1: Forward / Reverse: White (12)
		+	* 2: Current meter: Dark blue (8)
		+	* 3: Amount of regenerative braking: White (2)
		+	* 4: Regenerative brake switch: Brown (13)
		+	* 5: Reserved
		+	* 6: Throttle: Dark green (3)
		+	* 7: Speedometer: Green from Hall B (17)
		+	* 8: E-Bike alive: Purple (4) or Dark Grey (11)
		+	* Kelly Pink wire (7) must be attached to 36V or system is off

	== Steering System ==		== Steering System ==

@@ Line 59: / Line 59: @@
 Students built an H-bridge circuit board to swap positive and negative voltages, but it never quite worked. We then discovered that the Arduino Motor Control shield can control the actuator when powered from its own 12V supply. This is the preferred design as of 2026.
-The actuator depends on Signal In feedback. The H-bridge circuit used two digital signals to turn either left or right.
+The actuator depends on Signal In feedback. The H-bridge circuit used two digital signals to turn either left or right (D41, D48).
 === Linear actuator with Motor Control Shield ===

@@ Line 47: / Line 47: @@
 . Signal In is a 5 V analog feedback signal that gives the pointing angle of the wheel. There is one such signal for each of the two front wheels. More details on [[SteeringSensor]].
-The linear steering servo on the Catrikes https://www.servocity.com/hdls-6-2-12v  has 25 lb. thrust with  6" throw. The servo is powered by a pulse signal. A more suitable part may be https://www.servocity.com/motors-actuators/linear-actuators/heavy-duty-linear-actuators, which is described below.
+The linear steering servo on the Catrikes https://www.servocity.com/hdls-6-2-12v  has 25 lb. thrust with  6" throw. The servo is powered by a pulse signal (D48). A more suitable part may be https://www.servocity.com/motors-actuators/linear-actuators/heavy-duty-linear-actuators, which is described below.
 The steering servo or actuator is powered by 12V DC. It produces 5V DC which can be used by other equipment. Steering is controlled by sending a pulse to the actuator. A pulse width of approximately 1 ms will cause the actuator to fully extend (right turn on Catrike). A pulse of about 2 ms will fully retract the actuator. A pulse of 1.5 ms will keep the vehicle pointed straight ahead. There is some variation in these voltages; thus the Catrikes have a mechanical adjustment for fine-tuning the position for going straight. Typically there are about 30 pulses per second; the exact rate does not matter. At 12V, servo operating speed is 56mm/s with no load or 35 mm/s at maximum load.

@@ Line 63: / Line 63: @@
 === Linear actuator with Motor Control Shield ===
-The Motor Shield has signals for motor on/off, direction, speed. It can also read the current that the motor is drawing and software can keep it within limits.
+The Motor Shield has signals for motor on/off (D9), direction (D12) and speed (D3). It can also read the current that the motor is drawing (A0) and software can adjust speed to keep it within limits. Interface to the shield is on https://docs.arduino.cc/tutorials/motor-shield-rev3/msr3-controlling-dc-motor/#hardware--software-needed Steering is Motor A. The motor to lift the gate to decouple would be Motor B.
 == Braking System ==