User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
85
2.4 Encoders
2.4.1 Cloosed Loop Modes
MCP supports a wide range of encoders in close loop mode. This section of the manual mainly
deals with Quadrature and Absolute encoders. However additional types of encoders can be
supported.
2.4.2 Quadrature Encoders
MCP is capable of reading two quadrature encoders, one for each motor channel. The main MCP
interface provides a dual A and B input signals for each encoder as well as acces to regulated 5v.
Quadrature encoders are directional. In a simple two motor robot, one motor will spin clock
wise (CW) and the other motor will spin counter clock wise (CCW). The A and B inputs for one
of the encoders must be reversed to allow both encoders to count up when the robot is moving
forward. If both encoder are connected with leading edge pulse to channel A one will count up
and the other down. This will cause commands like Mix Drive Forward to not work as expected.
All motor and encoder combinations will need to be tuned.
Encoder 1
A
B
GND
+5V
EN1 A
EN1 B
5VDC
GROUND
Encoder 2
A
B
GND
+5V
EN2 A
EN2 B
5VDC
GROUND
M1A
M1B
M2B
M2A
B-
B+
+
-
RX0
TX0
+5V
GROUND
MCP
Motor 1
Motor 2
UART TX
UART RX
5VDC
GROUND
MCU
R1
F1
D1
Main
DC Power