Arduino shield modifications – Pololu Dual VNH5019 User Manual
Page 26
Arduino pin remapping of dual
VNH5019 motor driver shield for
single-channel mode (view of
underside of PCB).
PWM INA INB OUTA OUTB
operating mode
0
0
0
OPEN OPEN coast
0
1
0
H
OPEN coast “clockwise”/brake “counterclockwise”
0
0
1
OPEN H
coast "counterclockwise/brake “clockwise”
0
1
1
H
H
brake high (to VOUT)
1
0
0
L
L
brake low (to GND)
1
1
0
H
L
drive “clockwise”
1
0
1
L
H
drive “counterclockwise”
1
1
1
H
H
brake high (to VOUT)
The above truth table assumes that both motor drivers are enabled and are not experiencing a fault condition (i.e.
M1EN/DIAG and M2EN/DIAG pins are low). Otherwise, the disabled output will be “open” (high-impedance). Note
that in this new configuration, the M1EN/DIAG pin effectively becomes a new ENA/DIAGA pin and the M2EN/
DIAG pin effectively becomes a new ENB/DIAGB pin.
Note: In single-channel mode, the current sense feedback is disabled and the motor indicator LEDs do not
illuminate.
Arduino Shield Modifications
If you are using this motor driver as an Arduino shield and want to
reconfigure it for single-channel mode, we recommend you physically
modify the Arduino pin mappings (general information on this is
available in
). While the reconfiguration could be done
completely in software, doing so makes it very easy to accidentally
command the motor drivers to create a short circuit that could damage
something, so we advise against this approach. Instead, we recommend
you do the following (in order):
• Disconnect Arduino pins 4, 8, and 10 from driver pins M1INB,
M2INB, and M2PWM, respectively, by cutting the appropriate traces
on the underside of the PCB with a knife. The thin, red, wavy lines in
the picture to the right show where to cut. (You can restore these
connections with shorting blocks should you want to revert back to the
default pin mappings later.)
• Next, connect Arduino pin 2 to M1INB, pin 7 to M2INB, and pin 9
to M2PWM. The orange, brown, and purple “wires” in the picture to
the right are one example of where these connections can be made. You might find it convenient to first solder
2×1 pieces of the included 0.1″ male header strip into these holes and then use
or,
in
the
case
of
neighboring
pins,
to make these connections.
To use our
with your newly reconfigured board, you
should initialize your
DualVNH5019MotorShield
object as follows:
Pololu Dual VNH5019 Motor Driver Shield User’s Guide
© 2001–2014 Pololu Corporation
7. Using the Driver in Single-Channel Mode
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