The PROCON board is a complete dual channel motor controller. It was designed as the propulsion controller for Gemini. The main computer gives simple commands such as forward, stop, turn right, etc. The PROCON implements these commands while detecting collisions, stopping and informing the controlling computer.
PROCON controls two DC motors in both forward and reverse at variable speeds. The board consists of a microprocessor controlling dual PWM channels. The polarity of each channel can be switched to reverse the motor. The PROCON board communicates through an RS-232 serial port and so it is simple to control it with any personal computer.
The schematics are available for free on the download page.
The PROCON motor driver board.
Following are some tables with the specifications and the command set for the PROCON board.
|Processor||65C02, 1 MHZ|
|The command set is ASCII text and follows|
|0xyyyy0||Command to run both motors forward at speed x for distance yyyy.|
|1xyyyy0||Command to run both motors backward at speed x for distance yyyy.|
|2xyyyy0||Rotate left, one motor forward, one back, speed and distance as above.|
|3xyyyy0||Rotate right, one motor forward, one back, speed and distance as above.|
|40||Stop, after deceleration.|
|50||Reset, Stop immediatly.|
|7x0||Change speed to x.|
|8x0||Left motor speed offset by x.|
|9x0||Right motor speed offset by x.|
|Bxyyyy0||Turn left, one motor forward, one stopped, speed and distance as above.|
|Cxyyyy0||Turn right, one motor forward, one stopped, speed and distance as above.|
|D0||Return distance count.|
|E0||Return bumper status.|