Encoder motor driver

Using the cheap DC motors, with gear box and a quad encoder, in place of stepper motors. This has the benefits of being closed looped.

Controller

It features I2C comms that allows easy control of multiple motors with controller. A PIC16F1824 micro handles the closed loop control, a BD65491FV PWM motor driver with a INA181 current monitor on the V_motor input the the driver chip.

Use case

This was developed for a CNC mill that can be controlled over a single I2C bus. A simple proportional controller was good enough to get a working system. This was mostly due to the high gear ratio of the gearbox resulting is a pretty first order system.