Titan

The Titan Quad is a motor controller with four DC motor outputs that operate on the CAN Bus. Developed for WorldSkills but adapted for other uses.

Programming the Titan

How to program the Titan Quad Motor Controller

Update and Configuration App

Installing and Use of the Update and Config App

Layout (Click to Open)

1. Power input. Input requires a 12VDC battery, and two ports are available connected in parallel. Both ports can be used for increasing the capacity or as a battery in, battery out.

2. Power output. Outputs 12VDC out to other devices such as, VMXpi or Servo Power Block.

3. Voltage indicators. There is a reverse power indicator (red) that will light up if the voltage is connected in reverse. The other two indicators display the voltage rails 5V and 3.3V.

4. Fusebox. Before voltage can be applied to the motors or power outputs (2), an appropriate fuse must be inserted into the box. Motors take 20A fuses, and power outputs take 5 - 15A fuses.

5. RGB Status Light.

6. DFU USB - used to communicate with the computer for updates and configuration.

7. CAN-BUS Input - High side (yellow) and Low side (green) inputs.

8. M1 - Motor 1 output.

9. M0 - Motor 0 output.

10. M3 - Motor 3 output.

11. M2 - Motor 2 output.

12. Boot - used only when an error occurs, and Titan cannot communicate with the computer and needs a firmware upgrade.

13. NeoPixel - addressable LED output

14. DotStar - addressable LED output

15. Pin 13/ L for LED microcontroller

16. RX/TX - LEDs for microcontroller

17. LED i2c - com port for microcontroller

18. LED USB - used to communicate with the computer for uploading code

19. Encoder port - Quadrature encoder input

20. Limit H - High limit switch input. (Limits are pulled high and use hardware debouncing)

21. Limit L - Low limit switch input. (Limits are pulled high and use hardware debouncing)

Electrical Characteristics

Electrical Characteristics

Function	Min	Nom	Max
Input Voltage	10VDC	12VDC	14VDC
Output Voltage	10VDC	12VDC	14VDC
Motor Output Amperage	0A	—	20A
Motor Frequency	0Hz	15.6KHz	20KHz
Encoder Voltage Output	4.5V	5V	5.5V
Limit Switch Output	4.5V	5V	5.5V
LED Voltage Output	4.5V	5V	5.5V
LED Output Amperage	0A	—	6A

Status Light

Below are the various status light blink codes and the meaning behind them.

Status Light Blink Codes

Function	Blink 1	Blink 2	Blink 3
Titan Off / Update
No Communication
CAN Detected, Robot Disabled
CAN Detected, Robot Enabled
Fault Detected

Titan Off / Update

When the Titan is off, there will be no flashing light. The light will also be off if set to update mode. If the Titan is on, not in update mode, and the light is off, there could be a problem with the microcontroller or the LED.

No Communication

Is typically seen during bootup. When the Titan receives any CAN packet that is not blocked by the filter, the flashing blue will switch over to CAN Detected. If the light is still flashing blue when it should be in CAN Detected, either the CAN ID on the Titan is set incorrectly or the CAN ID set in the robot code is incorrect.

Important

If the CAN ID on the Titan is changed through the config app, the Titan needs to be rebooted for the configuration on the Titan to be set correctly.

CAN Detected, Robot Disabled

The flashing lights of RED, GREEN, BLUE, resembles that the CAN bus is detected; however, the robot is disabled. To get out of this state, the robot must be enabled via the driver station. If the robot is enabled and the status light is still showing this state, there is no communication between the driver station and the VMXpi.

CAN Detected, Robot Enabled

The blinking purple displays that the robot is enabled and allows for the motors to be moved.

Fault Detected

This state will occur if there is a fault error on one of the gates for driving the motors. This could be but not limited to: thermal shutdown, current overflow, voltage cutoff, and gate failure.