`m5stack-encoder-motor-position-control.ino`

M5Stack Encoder Motor Driver Unit (DRV8837DSGR) · File : m5stack-encoder-motor-position-control.ino · Language : C++ (Arduino) · Use case : Déplacer le moteur vers une position absolue précise en utilisant le mode position de l'unité.

Absolute positioning command for robotic or precision applications.

The code configures the unit in absolute positioning mode. It sends a target value (here 1000) to the position register. The STM32G031 uses encoder pulses to stop the motor at the exact position. Position bits are sent in little-endian. Ensure you calibrate the zero position before use.

m5stack-encoder-motor-position-control.ino

#include <Wire.h>

#define I2C_ADDRESS 0x2F
#define REG_TARGET_POSITION 0x0D // Registre position cible (32-bit split usually)
#define REG_MODE 0x00

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  // Activer mode position
  Wire.beginTransmission(I2C_ADDRESS);
  Wire.write(REG_MODE);
  Wire.write(0x02); // Mode Position
  Wire.endTransmission();
}

void loop() {
  // Déplacer vers position 1000
  movePosition(1000);
  delay(2000);
  
  // Déplacer vers position 0
  movePosition(0);
  delay(2000);
}

void movePosition(int32_t pos) {
  // Écriture de la position cible (exemple simplifié, vérifier format datasheet)
  Wire.beginTransmission(I2C_ADDRESS);
  Wire.write(REG_TARGET_POSITION);
  Wire.write(pos & 0xFF);
  Wire.write((pos >> 8) & 0xFF);
  Wire.write((pos >> 16) & 0xFF);
  Wire.write((pos >> 24) & 0xFF);
  Wire.endTransmission();
  
  // Attendre que le moteur arrive à position (nécessite lecture registre status)
  delay(1000); 
}

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