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#42
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Re: Stepper Motors
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We could use the same Allegro Semiconductor A4988 drivers as the RepRap RAMPS 1.4. That would get a STEP+DIR interface to the stepper motor for a 5V TTL signal level and take the motor power from either the battery directly or some DC/DC conversion. An Arduino can obviously control this with a RAMPS 1.4 board on a RepRap 3D printer with several steppers per MEGA2560 so there' s no reason someone couldn't hack up either an Atmel based stepper controller or just use the digital I/O. The carrier board based A4988 drivers can often be found for the $4-$8 range each. If you look around you can find a cheap Arduino in the $5 range. Even if you forked over for the whole RAMPS 1.4 board with the Arduino you can get that whole package for around $75 from SainSmart. You may also want to get some small aluminum heatsinks for the A4988 they can overheat near stall. So one could create some custom RAMPS 1.4+Arduino MEGA2560 firmware and have a bunch of these steppers running from a RoboRio with that as a coprocessor drawing power from the robot PDP breakers. Seems like $75 + $10-$20 a stepper motor. Cost wise it's easily comparable to cost of a Talon and a CIM or a bunch of hobby servos. Course this has the issue of how to integrate the field safety shutoffs, however I can see quite a few ways to make that work. Speaking purely as a matter of possible - not as a matter of FRC legal. Last edited by techhelpbb : 28-07-2015 at 01:40. |
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