DEMIR (Dynamically Enhanced Motor Intelligence for Robots)

A sophisticated closed-loop motor driver platform designed for precise robotic control applications.

📋 Overview

DEMIR is an advanced motor control system developed as a final year engineering project. It combines hardware and software to deliver high-precision motor control with intelligent feedback mechanisms.

Key Features

• Closed-loop Control: Encoder-based PID position controller
• Profile Generation: Smooth motion profiles for precise movements
• Multi-motor Support: Control up to 4 motors simultaneously
• Real-time Communication: UART/Serial interface for commands
• Hardware Integration: Built around ATmega328P microcontroller and VNH7070 motor driver

🔧 Hardware Specifications

• Microcontroller: ATmega328P (Arduino UNO compatible)
• Motor Driver: VNH7070 H-bridge driver
• Encoder Support: Quadrature encoder input
• Communication: UART (9600 baud default)
• Power Supply: 12V DC input for motors
• Operating Voltage: 5V logic level

🚀 Software Features

Motion Control

• PID Controller: Tunable proportional, integral, and derivative gains
• Velocity Profiling: Configurable acceleration and deceleration ramps
• Position Accuracy: High-precision positioning with encoder feedback
• Real-time Monitoring: Live position and velocity feedback

Communication Protocol

• Serial command interface
• Status reporting
• Parameter configuration
• Emergency stop functionality

📁 Project Structure

.
├── .github
│   └── workflows
│       └── build.yml
├── include
│   ├── board
│   │   └── DEMIRv1
│   │       ├── hardware.h
│   │       └── pins_DEMIRv1.h
│   ├── com_def.h
│   ├── conf.h
│   ├── controller.h
│   ├── encoder.h
│   ├── Motion.h
│   ├── motor.h
│   ├── MotorDriver.h
│   ├── PID.h
│   ├── PLANNER.h
│   ├── README
│   ├── SerialParser.h
│   ├── SerialSolver.h
│   └── vnh7070.h
├── src
│   ├── com_def.cpp
│   ├── controller.cpp
│   ├── encoder.cpp
│   ├── main.cpp
│   ├── Motion.cpp
│   ├── motor.cpp
│   ├── MotorDriver.cpp
│   ├── PID.cpp
│   ├── PLANNER.cpp
│   ├── README
│   ├── SerialParser.cpp
│   ├── SerialSolver.cpp
│   └── vnh7070.cpp
├── .clang-format
├── .gitignore
├── .travis.yml
├── LICENSE
├── platformio.ini
└── README.md

🛠️ Building and Installation

Prerequisites

• Arduino IDE or Arduino CLI
• ATmega328P compatible board (Arduino UNO)
• C++14 compatible compiler

Build Instructions

1. Clone the repository:

   git clone https://github.com/dsm/demir_firmware.git
   cd demir_firmware

2. Using Arduino IDE:

   • Open src/main.cpp in Arduino IDE
   • Select Arduino UNO board
   • Upload to your device

3. Using Arduino CLI:

   arduino-cli compile --fqbn arduino:avr:uno --build-property "compiler.cpp.extra_flags=-std=c++14"
   arduino-cli upload --fqbn arduino:avr:uno --port /dev/ttyUSB0

⚙️ Configuration

Motor Settings

Configure motor parameters in include/conf.h:

#define MOTORS 4              // Number of motors (1-4)
#define ENCODER_PPR 1024      // Pulses per revolution
#define MAX_VELOCITY 1000     // Maximum velocity (pulses/sec)
#define PID_KP 2.0           // Proportional gain
#define PID_KI 0.1           // Integral gain
#define PID_KD 0.05          // Derivative gain

Communication Settings

• Baud Rate: 9600 (configurable)
• Data Format: 8N1
• Flow Control: None

📡 Command Protocol

Basic Commands

• M<id> P<position> - Move motor to position
• M<id> V<velocity> - Set motor velocity
• M<id> S - Stop motor
• STATUS - Get system status
• RESET - Emergency reset

Example Usage

M1 P1000    # Move motor 1 to position 1000
M2 V500     # Set motor 2 velocity to 500
STATUS      # Get current status

🔍 Monitoring and Debugging

Status Information

The system provides real-time feedback including:

• Current position for each motor
• Target position
• Current velocity
• PID error values
• System status

Debug Output

Enable debug mode in configuration for detailed logging:

#define DEBUG_MODE 1

🧪 Testing

Unit Tests

Run automated tests using the GitHub Actions workflow:

• Compilation verification
• Code linting
• Memory usage analysis

Manual Testing

1. Connect motors and encoders
2. Upload firmware
3. Use serial monitor for command testing
4. Verify position accuracy and response

🤝 Contributing

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a Pull Request

📊 Performance Metrics

• Position Accuracy: ±1 encoder pulse
• Response Time: <10ms for position commands
• Maximum Update Rate: 1kHz control loop
• Memory Usage: ~26% of ATmega328P flash memory

🔧 Troubleshooting

Common Issues

1. Motor not moving: Check power supply and wiring
2. Position drift: Verify encoder connections
3. Communication errors: Check baud rate and serial settings
4. Compilation errors: Ensure C++14 support is enabled

Debug Steps

1. Enable debug output
2. Monitor serial communication
3. Check hardware connections
4. Verify configuration parameters

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

👨‍💻 Author

[Muhammet Şükrü Demir] - Final Year Engineering Project

🙏 Acknowledgments

• Arduino community for excellent development tools
• VNH7070 documentation and support
• University advisors and project mentors

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Note: This project is part of a final year engineering project and is actively under development. Features and documentation are continuously being improved.