H-THING

An H-Bridge circuit for controlling a single robot motor.

PCB Description

Specs

• 5V - 17V motor voltage range
• To be used with <1000Hz switching freqnuency (500Hz is preferred)
• Supports 3.3v and 5.0v logic level inputs
• Capable of driving up to 3A
• Requires only one PWM pin for speed, one digial I/O for direction
• Can be used as a half-bridge if direction pin is disconnected
• Has space for a current-sensing resistor (R6)
• Cannot be used to coast the motor

This project was created using KiCad 5 RC2. Use it to open and edit this design.

BOM

"Id"	"Designator"	"Package"	"Quantity"	"Designation"	"Supplier and ref"
1	"MH3,MH2,MH4,MH1"	"MountingHole_3.2mm_M3"	4	"MountingHole_3.2mm_M3"
2	"C1,C3"	"C_Disc_D5.0mm_W2.5mm_P5.00mm"	2	"100nF"
3	"C2"	"CP_Radial_D10.0mm_P5.00mm"	1	"470uF"
4	"J1"	"TerminalBlock_bornier-2_P5.08mm"	1	"MOTOR_CON"
5	"J2"	"TerminalBlock_bornier-2_P5.08mm"	1	"PWR_PASSTHRU"
6	"J3"	"TerminalBlock_bornier-2_P5.08mm"	1	"MAIN_PWR"
7	"Q1,Q6"	"TO-92_Inline_Narrow_Oval"	2	"2N3904"
8	"R1,R2,R4,R5"	"R_Axial_DIN0207_L6.3mm_D2.5mm_P2.54mm_Vertical"	4	"1k00"
9	"J4"	"Socket_Strip_Straight_1x03_Pitch2.54mm"	1	"SIG_CON"
10	"Q2,Q4"	"TO-220-3_Vertical"	2	"IRF5305"
11	"Q3,Q5"	"TO-220-3_Vertical"	2	"HUF75321"
12	"R6"	"R_Axial_DIN0207_L6.3mm_D2.5mm_P2.54mm_Vertical"	1	"0R20"
13	"G***"	"rover"	1	"LOGO"

Installing

Install the H-THING using standoffs on the robot. Apply motor power (5-17V) to the screw terminals on the right hand side. Make sure the polarity is correct! The other screw terminal is for power pass-trough. Use the passthrough to chain more H-THINGs together. Finally, connect the motor to the last screw terminal (the one with the motor label).

Connect the H-THING to a microcontroller by connecting one of the outermost pins to a PWM pin, and the other to a digital I/O (non PWM).

Signal Control

Use the library included with this repo to control the speed and direction of the motor.

Use the following code to create a H-THING object:

#define SPEED_PIN 9 
#define DIR_PIN 3 
HTHING leftm = HTHING(PA3,PA2);

To control the motor:

left_motor.stop(); //stops the motor
left_motor.run(-255); //runs the motor backwards
left_motor.run(120); //runs the motor forwards

License

This project is licensed under the MIT License - see the LICENSE.md file for details

Acknowledgments

• Special thanks to the V2FC robot team!