Research On Velocity Regulation Of Direct Current Motor Using ARM Processor

This paper studies the soccer robot's kinematics model and concentrates on the research of direct current motor controlled by ARM processor. Firstly, the model is built based driving wheel's velocity. Secondly, PWM technology is introduced and the L298N motor driver module is analyzed. The circuit diagram is described which explains how LPC2114 connects with L298N. Thirdly, a real time embedded system called uC/OS-II kernel is replanted to LPC2114 ARM board. The drivers are completed for the board's PWM inside ports and ports(P0.16～P0.19). The serial communications modules used by LPC2114 are completed. Lastly, upper-machine's master programs are completed including control interface and the serial communication procedure between PC and LPC2114 ARM board using Visual C++ 6.0.