Metal DC Geared Motor w/Encoder CQGB37Y001

6V/12V Metal DC Geared Motor w/Encoder-CQRDJ-GL

INTRODUCTION

• Supports 6V and 12V Operating Voltage.
• This is metal DC geared motor w/Encoder, Operating voltage is 6V-12V. for Projects Such as Robot, Custom Servo, Arduino and 3D Printers.

• The rear of the motor is equipped with a dual channel Holzer effect encoder, AB dual output, single circuit per cycle pulse 16CPR, double down the road, a total output of 64CPR.

• These units have a 0.61 inch long, 6 mm(0.24 inch)-diameter D-shaped output shaft. This motor is intended for use at 12V, though the motor can begin rotating at voltages as low as 1V.

• The face plate has six mounting holes evenly spaced around the outer edge threaded for M3 screws. These mounting holes form a regular hexagon and the centers of neighboring holes are 15.5 mm(0.61 inch) apart.

NOTE

Do not screw too far into the mounting holes as the screws can hit the gears. CQRobot Manufacturer recommends screwing no further than 3mm (1/8 inch) into the screw hole.

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SPECIFICATION

Motor Encoder

• Encoder Operating Voltage: 3.3V - 24V
• Encoder Type: Hall (Incremental Type)
• Encoder Resolution: 64CPR

Metal DC Geared Motor

Encoder Diagram

Diagram for UNO

====Interrupt Port with Different Board====

Notcie:attachInterrupt() [[image:|thumb|700px|center]] For example,with arduino UNO board, you want to use interrupt port 0(int.0). You should connect digital pin 2 with the board. So, the following code is only used in UNO and Mega2560. If you want to use arduino Leonardo or Romeo, you should change digital pin 3 instead of digital pin 2. See the link for detail http://arduino.cc/en/Reference/AttachInterrupt

样例代码

//The sample code for driving one way motor encoder
const byte encoder0pinA = 2;//A pin -> the interrupt pin 0
const byte encoder0pinB = 4;//B pin -> the digital pin 4
byte encoder0PinALast;
int duration;//the number of the pulses
boolean Direction;//the rotation direction 
 
 
void setup()
{  
  Serial.begin(57600);//Initialize the serial port
  EncoderInit();//Initialize the module
}
 
void loop()
{
  Serial.print("Pulse:");
  Serial.println(duration);
  duration = 0;
  delay(100);
}
 
void EncoderInit()
{
  Direction = true;//default -> Forward  
  pinMode(encoder0pinB,INPUT);  
  attachInterrupt(0, wheelSpeed, CHANGE);
}
 
void wheelSpeed()
{
  int Lstate = digitalRead(encoder0pinA);
  if((encoder0PinALast == LOW) && Lstate==HIGH)
  {
    int val = digitalRead(encoder0pinB);
    if(val == LOW && Direction)
    {
      Direction = false; //Reverse
    }
    else if(val == HIGH && !Direction)
    {
      Direction = true;  //Forward
    }
  }
  encoder0PinALast = Lstate;
 
  if(!Direction)  duration++;
  else  duration--;
}

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