W tej części opiszę sterowanie silnikami napędowymi robota. Na płytce Romeo V2 znajduje się układ sterowania silnikami L298P, za jego pomocą będziemy mogli manipulować prędkością oraz kierunkiem obrotu silników lub je zatrzymać.
Na płytce Romeo V2 należy ustawić odpowiednio cztery zworki.
Znajdują się one w sekcji Motor Mode Jump (zaznaczone kolorem fioletowym).
Poprawne ustawienie zworek przedstawia obrazek:
Podłączenie silników do modułu:
Kod źródłowy:
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int MOTOR_1_RIGHT_DIRECTION = 4; /* Variable to save Motor 1 direction. */
int MOTOR_1_RIGHT_SPEED = 5; /* Variable to save Motor 1 speed (values from 0 to 255). */
int MOTOR_2_LEFT_SPEED = 6; /* Variable to save Motor 2 speed (values from 0 to 255). */
int MOTOR_2_LEFT_DIRECTION = 7; /* Variable to save Motor 2 direction */
void motor_stop(void) /* Function to stop robot (stop motors) */
{
digitalWrite(MOTOR_1_RIGHT_SPEED,LOW); /* Set low signal on right motor */
digitalWrite(MOTOR_2_LEFT_SPEED,LOW); /* Set low signal on left motor */
}
void motor_drive_forward(char a, char b) /* Function to driveing forward using motors */
{
analogWrite(MOTOR_1_RIGHT_SPEED,a); /* Set speed of right motor */
digitalWrite(MOTOR_1_RIGHT_DIRECTION,LOW); /* Set low signal on right motor */
analogWrite(MOTOR_2_LEFT_SPEED,b); /* Set speed of left motor */
digitalWrite(MOTOR_2_LEFT_DIRECTION,LOW); /* Set low signal on left motor */
}
void motor_drive_back(char a, char b) /* Function to driveing back using motors */
{
analogWrite(MOTOR_1_RIGHT_SPEED,a); /* Set speed of right motor */
digitalWrite(MOTOR_1_RIGHT_DIRECTION,HIGH); /* Set high signal on right motor */
analogWrite(MOTOR_2_LEFT_SPEED,b); /* Set speed of left motor */
digitalWrite(MOTOR_2_LEFT_DIRECTION,HIGH); /* Set high signal on left motor */
}
void motor_turn_right(char a, char b) /* Fuction to turn right the robot. */
{
analogWrite(MOTOR_1_RIGHT_SPEED,a); /* Set speed of right motor */
digitalWrite(MOTOR_1_RIGHT_DIRECTION,LOW); /* Set low signal on right motor */
analogWrite(MOTOR_2_LEFT_SPEED,b); /* Set speed of left motor */
digitalWrite(MOTOR_2_LEFT_DIRECTION,HIGH); /* Set high signal on left motor */
}
void motor_turn_left(char a, char b) /* Fuction to turn left the robot. */
{
analogWrite(MOTOR_1_RIGHT_SPEED,a); /* Set speed of right motor */
digitalWrite(MOTOR_1_RIGHT_DIRECTION,HIGH); /* Set high signal on right motor */
analogWrite(MOTOR_2_LEFT_SPEED,b); /* Set speed of left motor */
digitalWrite(MOTOR_2_LEFT_DIRECTION,LOW); /* Set low signal on left motor */
}
void setup()
{
/* Set pins 4, 5, 6,7 as OUTPUT (pins for left and right motor */
for(int i=4; i<=7; ++i)
{
pinMode(i,OUTPUT); /* Mode pin "i" as output pin. */
}
}
void loop()
{
motor_drive_forward(255,255); /* Drive forwart with maximal speed */
delay(8000); /* Wait 8 secound */
motor_stop(); /* Stop all motos */
delay(8000); /* Wait 8 secound */
motor_drive_back(255,255); /* Drive back with maximal speed */
delay(8000); /* Wait 8 secound */
motor_stop(); /* Stop all motos */
delay(8000); /* Wait 8 secound */
motor_turn_right(150,150); /* Turn right with 150/255 speed. It is minimal speed for rotate robot */
delay(8000); /* Wait 8 secound */
motor_stop(); /* Stop all motos */
delay(8000); /* Wait 8 secound */
motor_turn_left(150,150); /* Turn left with 150/255 speed. It is minimal speed for rotate robot */
delay(8000); /* Wait 8 secound */
motor_stop(); /* Stop all motos */
delay(8000); /* Wait 8 secound */
}
Opis sterowania silnikami na stronie producenta:
https://www.dfrobot.com/wiki/index.php/Romeo_V2-All_in_one_Controller_(R3)_(SKU:DFR0225)
Źródło zdjęcia z pinami Romeo V2:
https://www.dfrobot.com/wiki/index.php/File:RomeoV2R3.png
Źródło zdjęcia z ustawieniami zworek pinów silników:
https://www.dfrobot.com/wiki/index.php/File:RomeoMotorJmp.png
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