ME 333 Lab 4

In this lab, we are going to use the PIC32 microcontroller to control the motor's position with a proportional feedback controller. A block diagram of the overview of this lab is shown below.

The PIC32 is going to generate a square wave reference signal that will cause the motor to alternate between two positions. This reference signal could be changed to any arbitrary signal such as a sinusoid or a triangle wave.

First, we are going to write the code in which we will learn about the following topics:

• Timers
• Interrupts
• PWM

After programming the PIC32, you will construct the circuit for this motor controller. This circuit will include the following information:

• H-bridge
• Motor with Encoder
• Encoder/Decoder Chip

After the circuit has been created, we will test the feedback control with different proportional gains.