Page 194 - Robot Design Handbook ROBOCON Malaysia 2019
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2.2.2 The MR2 Motor Controller Board
Figure 6: The MR2 motor controller board
Four the MR2 motor controller boards are shown in Figure 6, each mounted on top
of a MD10C R3 motor driver. They are fixed onto a rectangular board at marked corners as
demonstrated in Figure 7. The Motor Controller Boards are used to programme the speed of
their respective motor, and to collect data from the encoder to ensure the position of the legs
of the MR2. This is crucial as it is the most important factor in ensuring that the robot is
able to move forward as we intended. Similar to the MR1 main board, the IO pins are
arranged to reduce wiring problems. The MR2 Motor Boards are “slaves” to the MR2
Motion Board.
Figure 7: The MR2 motor boards
2.2.2 The MR2 Motion Board
The MR2 Motion Board is designed to synchronize the movement of the four motor
systems. This Motion Board is connected to the four MR2 Motor Controller Boards, where
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