Pololu TReX Jr Dual Motor Controller DMC02
 

This lower-power, smaller, and lower-cost version of the TReX is the ultimate general-purpose motor controller for small motors:
it has a wide operating range (5 to 24 V), delivers 2.5 A continuously
per motor, provides current sensing on the two main channels, and it features the TReX triple interface
that allows you to control motors from a serial line (RS-232 or TTL), radio control (RC) receiver, or analog voltage source such as a potentiometer.
 

A novel blend of serial, RC, and analog motor control

The TReX Jr Dual Motor Controller, a lower-power version of the TReX Dual Motor Controller,
is a versatile DC motor controller designed to seamlessly blend autonomous and human control of small robots.
The TReX Jr can control two bidirectional and one unidirectional motor via three independent control interfaces:
radio control (RC) servo pulses, analog voltage, and asynchronous serial (RS-232 or TTL).
Using the compact MC33887 motor driver allows for a single-board design that reduces cost while maintaining a small package.
As an added benefit, the use of the MC33887 motor driver allows operation to 24 V.

The TReX Jr uses five input channels to receive the RC or analog control signals.
When operating in RC or analog mode, the five channels function as follows:

• Channel 1: motor 1 speed and direction or, if in mix mode, turn left/right
• Channel 2: motor 2 speed and direction or, if in mix mode, go forward/reverse
• Channel 3: auxiliary (unidirectional) motor speed
• Channel 4: can be used to enable “flipped mode”, which allows invertable robots to be controlled as normal when they are inverted
• Channel 5: determines whether the motors are controlled by the channel inputs or the serial interface;
  this channel allows you to switch between autonomous and human control at will

The serial interface can switch instantly with one of the other two interfaces, allowing mixed autonomous and remote control.
For example, a robot could be configured to run autonomously most of the time,
but a human operator could override the autonomous function if the robot gets stuck or into a dangerous
situation. If the serial mode is selected as the primary interface, high-resolution measurements of all five
channel input signals (be they RC pulses or analog voltages) are made available to the autonomous robot controller,
allowing for complex and unlimited mixing of operator control and sensor input.
For example, the TReX would be a great motor controller for a remotely controlled balancing robot.
 

Technical specifications

RC/Analog control features

• Battery Elimination Circuit (BEC) jumper lets the TReX Jr optionally power your RC receiver or analog controller
• mix-mode jumper allows for single-stick motor control of differential-drive robots
• automatic calibration for your particular RC or analog controller (the TReX Jr can learn the channel ranges)

Options accessable through the serial interface

• all five high-resolution channel input values are available
• remapped channel input values show what the TReX Jr would do if it were in control
• optional 7-bit cyclic redundancy checking to ensure command/data validity
• calibration values can be explicitly read and set
• each channel can be reversed and parabolically scaled
• current limit, acceleration, and maximum motor speed settings
• the bidirectional motors can (individually) be set to coast or variable brake when in the deadband
• upgradable firmware
   

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