Using BTS7960 wiring

[Aarlex]

Hi Juan,

Can you describe the wiring for BTS7960. Is it different from L298N? 

I am going to use a 24v Motor with no encoder and was wondering whether that would be good enough for the BTS.

What kind of motors are you using on your robot ? Can you share some details?

Thanks 

Alex

[Juan Miguel Jimeno]

Hi Aarlex,

This is the type of motor that I used for BTS7960 driver. https://world.taobao.com/item/537100421404.htm?fromSite=main. I don't have a full wiring diagram using BTS7960 yet but you may use this simple diagram to connect your motors.

Take note that R_EN and L_EN are shorted and connected to +5V. Connect RPWM and LPWM to your teensy board as defined in your config file. Example: https://github.com/grassjelly/linorobot_mecanum/blob/master/arduino/firmware/lib/config/lino_base_config.h#L63-L64 . 

If the motor direction is incorrect swap the pin assignments for RPWM and LPWM(MOTOR_IN_A and MOTOR_IN_B) from the config  file and re-upload the codes again.

Hope these help. Cheers!

[Wu Jiang]

Isn't the +12V and GND reversed?

Are R_IS, L_IS mandatory to connect to +5V and GND? Thank you.

[Aarlex]

Hi Juan,

Thanks for the information. 

I have another question to use with BTS7960. I have a senior car (wheelchair kind) that powers the two rear wheels using single wheelchair motor.

The front two wheels are steered using handle. I plan to convert that into a robot (ackerman style) by replacing the handle with a powerful servo motor. 

My question is that whether its possible to do so. In your ackerman setup, you used two motors for the rear wheels. How do I use a single instead here.

Thanks

Alex

[Juan Miguel Jimeno]

Hi Wu Jiang,

My bad, you're right +12V and GND are reversed. Thanks for spotting that.

[Juan Miguel Jimeno]

Hi Alex,

Yes, the linorobot_ackermann can definitely do that. You can change the "steer()"  function to drive the steering hardware you're using and still use the parsed steering angle sent by navigation stack. Regarding the rear motors, although the firmware drives two motors, the RPM on both wheels is the same as it's only used for forward and reverse motion so technically should work for a single motor. linorobot_ackermann uses a different local planner (teb_local_planner) so it can support car-like steering kinematics and leverage ROS's navigation stack.

Hope these answer your questions. Let me know if you need help. Would be very happy to see a port of the whole stack to a bigger robot like yours. Photos are also welcome! :P Happy Hacking!

[Aalex]

Hi Juan

Thanks and sorry for late reply. 

I have currently ordered the BTS7960 and motors and am waiting for them to arrive. I will post my progress soon. 

Thanks for your help.

Alex

[Nikhil chowdary]

Hi guys, 

i have a problem regarding wiring the motors with encoders to BTS7960. Can you guys share how to connect this BTS7960 to Teensy?

Thankyou.