PROCON

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 thedownloadpage.

The PROCON motor driver board.

Following are some tables with the specifications and the command set for the PROCON board.

Specifications
Processor 65C02, 1 MHZ
RAM 2K
ROM 2K
PWM Controller CDP-1878
Bit Ports 19


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.
60 Enable bumpers.
7x0 Change speed to x.
8x0 Left motor speed offset by x.
9x0 Right motor speed offset by x.
A0 Clear offset.
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.
F0 Self Test.


Michael Fowler 2016