Example Code for Arduino-PLL Motor Control

Hardware Preparation

• DFR0305 RoMeo BLE x1
• FIT0265 micro USB line x1
• FIT0016 TT Geared Motorx2

Software Preparation

• Download Arduino IDE: Click to download Arduino IDE

Wiring Diagram

Other Preparation Work

Applying the Motor Control Pin Jumpers will allocate Pin 4,5,6,7 for motor control. The motor driver circuit control terminal uses a short-jumper to set on or off. Set on when connected and off when disconnected.

Sample Code

//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=4;i<=7;i++)
    pinMode(i, OUTPUT);
  Serial.begin(115200);      //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;
      }
    }
  }
}

Result

Input "w" to move forward at max speed, "x" to move backward at max speed, "s" to stop.

Additional Information

The Romeo also supports PLL (Phase locked loop) control mode. 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.