HiTechnic

FIRST Motor Controller

Specification
For LEGO MINDSTORMS NXT
Dataport Systems, Inc – HiTechnic Division

© Dataport Systems, Inc 2008. Revision 1.4

 HiTechnic FIRST Motor Controller Specification

Contents
1. Introduction .............................................................................................................. 3
2. Description ............................................................................................................... 3
2.1. Function ................................................................................................................ 3
3. Technical Description .............................................................................................. 5
3.1. Operation .............................................................................................................. 5
3.2. Parameter ordering ............................................................................................... 6
3.3. Channel mode ....................................................................................................... 6
3.4. Channel power...................................................................................................... 7
3.5. Channel current encoder value ............................................................................. 8
3.6. Channel target encoder value ............................................................................... 8
4. Appendix 1. Electrical Connections ........................................................................ 8

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©Dataport Systems, Inc 2008
 HiTechnic FIRST Motor Controller Specification

1. Introduction
This document describes the HiTechnic Motor Controller operation and programming
interface.

The motor controller has connections for two DC motors and two encoders. The onboard
firmware functions provide comprehensive motor control functions.

2. Description
2.1. Function
The motor controller communicates with the NXT using the LEGO Company’s defined
use of the I2C interface.
The motor controller will time-out if no I2C communication is detected for 2½ seconds.
If a timeout occurs both motor channels will be set to float mode.
The motor controller will shut down if a fault condition such as an output short circuit,
output over-current or internal overheating is detected. It will automatically restart after a
one minute cool down period. If a shut down occurs both motor channels will be set to
float mode.
The motor controller accepts 32 bit target values for the encoder counts for position
setting mode.
The motor controller returns the readings for the encoder counts from both channels as 32
bit values.
The first motor controller in the daisy chain will use an I2C address of 02/03. Subsequent
controllers will obtain addresses of 04/05, 06/07 and 08/09. Up to four controllers may be
daisy chained. Sensors and other I2C devices may not be connected to the controller
daisy chain.
The motor controller consumes 5mA or less from the NXT “brick” 4.3v unregulated
supply.
The motor controller supplies up to 4 amps on each motor channel when running from 9v
– 15v.
The motor controller uses separate grounds for the NXT I2C interface and the battery
supply to reduce ground loop problems. Care should be taken when wiring the battery
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 HiTechnic FIRST Motor Controller Specification

supply between modules to ensure that the terminals are tight and that an adequate gauge
of wire is used for the likely motor current consumption. Inappropriate wiring will result
in failure to operate correctly. Care has been taken to ensure that typical wiring errors
should not cause permanent damage. However, care should always be taken to avoid
wiring errors. Do not use un-fused battery packs.

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 HiTechnic FIRST Motor Controller Specification

3. Technical Description
3.1. Operation
The motor controller firmware will support the LEGO company’s sensor memory model.

Address Type Contents

00 – 07H chars Sensor version number
08 – 0FH chars Manufacturer
10 – 17H chars Sensor type
18 – 3DH bytes Not used
3E, 3FH chars Reserved
40H – 43H s/long Motor 1 encoder value, high byte first
44H byte Motor 1 mode
45H s/byte Motor 1 power
46H s/byte Motor 2 power
47H byte Motor 2 mode
48 – 4BH s/long Motor 2 target encoder value, high byte first
4C – 4FH s/long Motor 1 current encoder value, high byte first
50 – 53H s/long Motor 2 current encoder value, high byte first
54, 55H word Battery voltage 54H high byte, 55H low byte
56H S/byte Motor 1 gear ratio
57H byte Motor 1 P coefficient*
58H byte Motor 1 I coefficient*
59H byte Motor 1 D coefficient*
5AH s/byte Motor 2 gear ratio
5BH byte Motor 2 P coefficient*
5CH byte Motor 2 I coefficient*
5DH byte Motor 2 D coefficient*
The Sensor version number field will report a revision number in the format “Vn.m”
where n is the major version number and m is the revision level. Revision numbers will
typically reflect the firmware level. The version number will be used to indicate the
hardware level.
The Manufacturer field will contain “HiTechnc”.
The Sensor type field will contain “MotorCon”.
The Motor 1/2 mode fields select the operating mode for each channel.
The Motor 1/2 power fields set the operating power level for each channel. This value is
a signed byte.
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 HiTechnic FIRST Motor Controller Specification

The Motor 1/2 target encoder value fields will accept a 32 bit target position setting for
use in position setting mode. This value is a signed 32 bit value.
The Motor 1/2 current encoder value fields will return the 32 bits current encoder value.
This value is a signed 32 bit value.
The Motor 1/2 gear ratio fields have not been implemented in the current version of the
firmware.
The Motor 1/2 P coefficient fields specify the differential control loop P coefficient. This
value is an unsigned byte.*
The Motor 1/2 I coefficient fields specify the differential control loop I coefficient. This
value is an unsigned byte.*
The Motor 1/2 D coefficient fields specify the differential control loop D coefficient. This
value is an unsigned byte.*
The Battery voltage field will return the current battery voltage. The high byte is the
upper 8 bits of a 10 bit value. It may be used as an 8 bit representation of the battery
voltage in units of 80mV. This provides a measurement range of 0 – 20.4 volts. The low
byte has the lower 2 bits at bit locations 0 and 1 in the byte. This increases the
measurement resolution to 20mV.
*Note: the preset PID coefficient values in the firmware have been tuned for the motors
being used and it is recommended they not be changed. Any changes to these values will
be lost at power down.
3.2. Parameter ordering
The motor controller mode, power and target position control parameters have been
placed in order to permit single multi-byte writes to be used per channel to control its
operation. If just the mode or power needs to be changed, then a single byte write can be
used. If power and mode need to be changed, then a two byte write of mode followed by
power can be used. All six bytes can be written to set up a new mode, power and target
position. Since the two channels six byte areas are contiguous, a 12 byte write can be
used to command both channels simultaneously.
3.3. Channel mode
The motor controller has one mode control byte per channel to control and monitor its
operation.

D7 D6 D5 D4 D3 D2 D1 D0
Busy Error - NTO Rev Lock Sel 1 Sel 0
The Sel 1 and 0 bits encode the operation thus;

Sel Action
00 Run with power control only
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 HiTechnic FIRST Motor Controller Specification

01 Run with constant speed

10 Run to position
11 Reset current encoder
The Run with constant speed command will cause the firmware to adjust the motor power
to compensate for changing loads in order to maintain a constant motor speed.
The Run to position command will cause the firmware to run the motor to make the
current encoder value to become equal to the target encoder value. It will do this using a
maximum rotation rate as defined by the motor power byte. It will hold this position in a
servo like mode until the Run to position command is changed or the target encoder
value is changed. While the Run to position command is executing, the Busy bit will be
set. Once the target position is achieved, the Busy bit will be cleared. There may be a
delay of up to 50mS after a Run to position command is initiated before the Busy bit will
be set.
The Reset current encoder will reset the current encoder value to 0 and then clear the
command resulting in Off-braked state to be engaged.
The Lock bit is reserved and not implemented at this time.
The Rev bit may be used to alter the forward/reverse direction mapping for both the
motor output and the encoder inputs. This function is primarily intended to make
harmonize the forward and reverse directions for motors on opposite sides of a skid-steer
chassis.
The Error bit will be set if the motor controller has shut down due to a fault condition
such as an output short circuit, output over-current or internal overheating has been
detected. It will be cleared automatically after a one minute cool down period followed
by a controller restart. The shut down function includes placing both motor channels into
float mode.
The NTO or No Time Out bit may be set to stop the controller timing out if no I2C
communication is received within 2½ seconds. In order to set the No Time Out state, the
NTO bit must be set in both motor channel mode registers.
3.4. Channel power
The motor controller electronics is capable of operating each channel independently in
PWM mode. This field may be set in the range of -100 to +100. 0 is used to set
Off/Brake. Any value above 100 will be treated as 100, except –128 which is used to set
Off/Float. Negative values run the motor in the reverse direction. The power should be
set positive when being used as a parameter for the Run to position command. This field
sets the rotation rate in Run with constant speed and maximum rotation rate in Run to
position in the range of -1000 – +1000 degrees per second represented by the range -100
– +100. As with PWM mode, 0 is used to set Off/Brake while –128 is used to set
Off/Float.

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 HiTechnic FIRST Motor Controller Specification

3.5. Channel current encoder value

The motor controller maintains a current encoder value for each motor channel. It is
initialized to zero at power up and tracks all subsequent motor movement. It may be reset
to zero using the Reset current encoder function. The encoder has a resolution of 1440
counts per revolution of the motor shaft or ¼ degrees per count.
3.6. Channel target encoder value
The motor controller uses this value to drive the motor to the target position when
executing a Run to position command.
4. Appendix 1. Electrical Connections

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©Dataport Systems, Inc 2008