pypilot motor controller

For brushed DC motors. Can drive most existing tillerpilots and mechanical wheel pilots.

12v 24v
Voltage10.5-15v11.7-30v
Controller Current15mA to 22mA
Motor Currentup to 8Aup to 6.5A
Clutch Current0-2A0-2A
* Motor current is how many amps the motor draws at maximum speed moving the rudder freely, not stall current.

Efficiency

* ratio of motor power divided by motor power + controller total consumption

Power Connection

Marked red and black. These attach to the controller with screw terminals.

Motor Connection

The motor connects to terminals marked green. These may need to be reversed if the autopilot makes corrections in the wrong direction.

Serial Data Connection

raspberry pin
123purpose
RedBrownBlack+3.3v1
GreenWhiteBrowntx8
BlueBlueGreenrx10
BlackBlackBlue0v, GND6, 9

Note: wires colors will be one of 3 possibilities depending on the controller.

End stops

3 wires can be used for optional end stops. End stops prevent stalling the motor and stress to the drive.

Black - GND, 0v.

Yellow/Red - port/starboard stop switches, shorted to ground prevents further movement in that direction.

Rudder Feedback

3 wires are used for optional rudder feedback.

Black - GND

Yellow - voltage angle, from GND to Vcc

Red - +5v
A potentiometer with 3 wires can be connected to these 3 wires. The potentiomter should range from 1k ohms to 100k ohms. Recommend 10k.

A potentiometer with only 2 wires can connect to yellow and black pins. A resistor should be added from red to yellow of 1k ohms.

A hall effect sensor with analog output can be connected to these 3 wires.

* Controllers Before October 2019 cannot be used with a hall effect rudder feedback without a small modification.

Motor Temperature Sensor

Optional 10k NTC (2 wires) for temperature of the electric motor.

This is generally not needed because most motors will not overheat unless stalled for prolonged periods. It can be used to prevent the motor from overheating and burning out.