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DEMIR (Dynamically Enhanced Motor Intelligence for Robots)

A sophisticated closed-loop motor driver platform designed for precise robotic control applications.

📋 Overview

DEMIR is an advanced motor control system developed as a final year engineering project. It combines hardware and software to deliver high-precision motor control with intelligent feedback mechanisms.

Key Features

  • Closed-loop Control: Encoder-based PID position controller
  • Profile Generation: Smooth motion profiles for precise movements
  • Multi-motor Support: Control up to 4 motors simultaneously
  • Real-time Communication: UART/Serial interface for commands
  • Hardware Integration: Built around ATmega328P microcontroller and VNH7070 motor driver

🔧 Hardware Specifications

  • Microcontroller: ATmega328P (Arduino UNO compatible)
  • Motor Driver: VNH7070 H-bridge driver
  • Encoder Support: Quadrature encoder input
  • Communication: UART (9600 baud default)
  • Power Supply: 12V DC input for motors
  • Operating Voltage: 5V logic level

🚀 Software Features

Motion Control

  • PID Controller: Tunable proportional, integral, and derivative gains
  • Velocity Profiling: Configurable acceleration and deceleration ramps
  • Position Accuracy: High-precision positioning with encoder feedback
  • Real-time Monitoring: Live position and velocity feedback

Communication Protocol

  • Serial command interface
  • Status reporting
  • Parameter configuration
  • Emergency stop functionality

📁 Project Structure

.
├── .github
│   └── workflows
│       └── build.yml
├── include
│   ├── board
│   │   └── DEMIRv1
│   │       ├── hardware.h
│   │       └── pins_DEMIRv1.h
│   ├── com_def.h
│   ├── conf.h
│   ├── controller.h
│   ├── encoder.h
│   ├── Motion.h
│   ├── motor.h
│   ├── MotorDriver.h
│   ├── PID.h
│   ├── PLANNER.h
│   ├── README
│   ├── SerialParser.h
│   ├── SerialSolver.h
│   └── vnh7070.h
├── src
│   ├── com_def.cpp
│   ├── controller.cpp
│   ├── encoder.cpp
│   ├── main.cpp
│   ├── Motion.cpp
│   ├── motor.cpp
│   ├── MotorDriver.cpp
│   ├── PID.cpp
│   ├── PLANNER.cpp
│   ├── README
│   ├── SerialParser.cpp
│   ├── SerialSolver.cpp
│   └── vnh7070.cpp
├── .clang-format
├── .gitignore
├── .travis.yml
├── LICENSE
├── platformio.ini
└── README.md

🛠️ Building and Installation

Prerequisites

  • Arduino IDE or Arduino CLI
  • ATmega328P compatible board (Arduino UNO)
  • C++14 compatible compiler

Build Instructions

  1. Clone the repository:

    git clone https://github.com/dsm/demir_firmware.git
cd demir_firmware

  2. Using Arduino IDE:

    • Open src/main.cpp in Arduino IDE
    • Select Arduino UNO board
    • Upload to your device

  3. Using Arduino CLI:

    arduino-cli compile --fqbn arduino:avr:uno --build-property "compiler.cpp.extra_flags=-std=c++14"
arduino-cli upload --fqbn arduino:avr:uno --port /dev/ttyUSB0

⚙️ Configuration

Motor Settings

Configure motor parameters in include/conf.h:

#define MOTORS 4              // Number of motors (1-4)
#define ENCODER_PPR 1024      // Pulses per revolution
#define MAX_VELOCITY 1000     // Maximum velocity (pulses/sec)
#define PID_KP 2.0           // Proportional gain
#define PID_KI 0.1           // Integral gain
#define PID_KD 0.05          // Derivative gain

Communication Settings

  • Baud Rate: 9600 (configurable)
  • Data Format: 8N1
  • Flow Control: None

📡 Command Protocol

Basic Commands

  • M<id> P<position> - Move motor to position
  • M<id> V<velocity> - Set motor velocity
  • M<id> S - Stop motor
  • STATUS - Get system status
  • RESET - Emergency reset

Example Usage

M1 P1000    # Move motor 1 to position 1000
M2 V500     # Set motor 2 velocity to 500
STATUS      # Get current status

🔍 Monitoring and Debugging

Status Information

The system provides real-time feedback including:

  • Current position for each motor
  • Target position
  • Current velocity
  • PID error values
  • System status

Debug Output

Enable debug mode in configuration for detailed logging:

#define DEBUG_MODE 1

🧪 Testing

Unit Tests

Run automated tests using the GitHub Actions workflow:

  • Compilation verification
  • Code linting
  • Memory usage analysis

Manual Testing

  1. Connect motors and encoders
  2. Upload firmware
  3. Use serial monitor for command testing
  4. Verify position accuracy and response

🤝 Contributing

  1. Fork the repository
  2. Create a feature branch (git checkout -b feature/amazing-feature)
  3. Commit your changes (git commit -m 'Add amazing feature')
  4. Push to the branch (git push origin feature/amazing-feature)
  5. Open a Pull Request

📊 Performance Metrics

  • Position Accuracy: ±1 encoder pulse
  • Response Time: <10ms for position commands
  • Maximum Update Rate: 1kHz control loop
  • Memory Usage: ~26% of ATmega328P flash memory

🔧 Troubleshooting

Common Issues

  1. Motor not moving: Check power supply and wiring
  2. Position drift: Verify encoder connections
  3. Communication errors: Check baud rate and serial settings
  4. Compilation errors: Ensure C++14 support is enabled

Debug Steps

  1. Enable debug output
  2. Monitor serial communication
  3. Check hardware connections
  4. Verify configuration parameters

📄 License

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

👨‍💻 Author

[Muhammet Şükrü Demir] - Final Year Engineering Project

🙏 Acknowledgments

  • Arduino community for excellent development tools
  • VNH7070 documentation and support
  • University advisors and project mentors

Note: This project is part of a final year engineering project and is actively under development. Features and documentation are continuously being improved.