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ME461_F11_Prelab7_10_28_11

# ME461_F11_Prelab7_10_28_11 - ME 461 Homework#7 Fall 2011...

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ME 461 1 Prelab #7 ME 461 Homework #7 Fall 2011 Due at the beginning of Lab #7 Suggested Reading: Allegro A3953 Full bridge motor controller datasheet. http://www.robotroom.com/FaulhaberGearmotor.html Lab 7 manual. 1. A simplified schematic of the motor controller that is used on your robot is shown below. In your own words (i.e., do not simply copy words from the datasheet), briefly explain the purpose and use of the REF, BRAKE, MODE, and SENSE pins on the A3953. Why are they connected as shown? 2. To turn the motor amplifier on, should the Amp Enable switch be connected to V cc or GND? Why? Note that the output of the Amp Enable switch feeds one of the two inputs of a standard OR gate. The OR gate is a combinational logic gate (rather than a sequential logic element such as those discussed in class). A combinational logic gate performs standard binary logic operations on multiple inputs to produce a binary output. The truth table for the OR gate is: A B C=A+B 1 1 1 1 0 1 1 1 0 0 0 0 C=A+B B A MCU A3953 P4.0 PHASE ENABLE V CC V CC GND P4.1/TB1

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ME461_F11_Prelab7_10_28_11 - ME 461 Homework#7 Fall 2011...

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