//Standard DLL Speed control
int E1 = 4; //M1 Speed Control
int E2 = 7; //M2 Speed Control
int M1 = 5; //M1 Direction Control
int M2 = 6; //M1 Direction Control
///For previous Romeo, please use these pins.
//int E1 = 6; //M1 Speed Control
//int E2 = 9; //M2 Speed Control
//int M1 = 7; //M1 Direction Control
//int M2 = 8; //M1 Direction Control
//When m1p/m2p is 127, it stops the motor
//when m1p/m2p is 255, it gives the maximum speed for one direction
//When m1p/m2p is 0, it gives the maximum speed for reverse direction
void DriveMotorP(byte m1p, byte m2p)//Drive Motor Power Mode
{
digitalWrite(E1, HIGH);
analogWrite(M1, (m1p));
digitalWrite(E2, HIGH);
analogWrite(M2, (m2p));
}
void setup(void)
{
int i;
for(i=6;i<=9;i++)
pinMode(i, OUTPUT);
Serial.begin(19200); //Set Baud Rate
}
void loop(void)
{
if(Serial.available()){
char val = Serial.read();
if(val!=‐1)
{
switch(val)
{
case 'w'://Move Forward
DriveMotorP(0xff,0xff); // Max speed
break;
case 'x'://Move Backward
DriveMotorP(0x00,0x00);
; // Max speed
break;
case 's'://Stop
DriveMotorP(0x7f,0x7f);
break;
}
}
}
}
Schematics
schematic (http://www.dfrobot.com/image/data/DFR0004/RoMeo%20V1.1%20sch.pdf)
Romeo Schematic V1.0
(http://www.dfrobot.com/image/data/DFR0004/RoMeo_Schematic_V1.pdf)
Romeo Schematic V0.9 (http://www.dfrobot.com/wiki/images/a/a0/RoMeo_Schematic.png)
