STM_DCMotor_Encoder

How to control DC motor and AB Encoder using NUCLEO-H743ZI2 board.

• Hardware: NUCLEO-H743ZI2 board, DC motor with AB Encoder, Transistor(NPN 2N3904L x 4).

• Software: STM32CubeMX and Keil uVision5.

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STM32 Setting Parameter

Item	Paramter
System Clock	72 MHz
Prescaler	72 - 1
Counter Period	100 - 1.

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DC Motor and AB Encoder

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Circuit

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PWM Control and AB Encoder process

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Send data using serial communication.

• Encoder counter

Address	Address 0	Address 1
data type	UINT8	UINT8
data	encoder cnt hightbyte	encoder cnt lowbyte

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Received data using serial communication.

• Duty

Address	Address 0	Address 1	Address 2
data type	UINT8	UINT8	UINT8
data	direction(0 or 1)	duty hightbyte (0 - 100)	duty lowbyte (0 - 99) * 0.01

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Reference

[1]. PWM (Pulse Width Mod) in STM32. https://controllerstech.com/pwm-in-stm32/

[2]. Incremental ENCODER and STM32. https://controllerstech.com/incremental-encoder-with-stm32/

[3]. STM32H743ZI MCU. https://www.st.com/en/evaluation-tools/nucleo-h743zi.html

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