The Design
The design is extremely simple. It was built around a Atmel Tiny13 but I upgraded to the Tiny45 when I implemented
PID (needed more program space). The Tiny45 is an 8-pin
microcontroller that has 3 inputs and 2 outputs. The outputs are
configured as PWM channels to control the motors using locked anti-phase.
The motors are Solarbotics GM15 gear pager motors that are controlled by a
FAN8200 dual h-bridge IC.
The inputs can be either
ADC or digital inputs. To maximize speed, I am using digital inputs.
Schematic - Click Image
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