This clamp controller can achieve the following goal (with proper firmware):
- Control and communicate through serial interface.
- From computer via CH340 USB chip on Arduino Nano
- From Radio via TX RX interface with USB Radio Dongle
- Control 1 or 2 motors for the clamp's main linear movement
- PWM / Bidirectional output via XY160D driver to two DC motors
- Close loop feedback from single-phase hall effect shaft encoder from 2 motors
- Operate on 3 or 4-cell Li-Po Battery power
- Monitor battery voltage
Battery Choice: Up to user (typical: 4-cell Li-Po 1000mAh 4S 75C)
Radio Choice: 00_USBRadioDongle
Radio Interface: TX RX Interface with 5V power
Motor Driver Choice: Motor Driver XY160D
Load Cell Interface: HX711 AD Module
Load Cell Choice: Up to user (any 4 wire load cell)
MCU Choice: Arduino Nano (ATMEGA328 with new bootloader)
Voltage Regulation: Single stage LM7805 solution (see schematic)
End Switch Choice: No end switch is connected. (end position inferred by software)
A simple test was performed to determine if the encoder has good repeatability.
Result: Single-phase encoder is not reliable for bi-directional positional control.
Inferring rotational direction is not reliable and result in poor axis repeatability.