DFR0398 Romeo BLE Quad Example Code for Arduino Speed Control

This tutorial guides you through controlling motor speed with Arduino using the TT Geared Motor with Encoder, covering key parameters like sampling period, motor encoder pole number, and reduction ratio to achieve accurate speed calculations.

Hardware Preparation

Software Preparation

Arduino IDE 1.5.5 Bluno M3 version Download on Bluno M3 wiki page
Arduino libraries: Motor.h arduino library and PID_V1.h Arduino library
How to install Libraries in Arduino IDE

Wiring Diagram

Connection Diagram

Romeo BLE Quad		Micro DC Motor	PIN
Romeo BLE Quad	M4+	Micro DC Motor	+
Romeo BLE Quad	M4-	Micro DC Motor	-
Romeo BLE Quad	M4E 5V	Micro DC Motor	VCC
Romeo BLE Quad	M4E GND	Micro DC Motor	GND
Romeo BLE Quad	M4E B	Micro DC Motor	B
Romeo BLE Quad	M4E A	Micro DC Motor	A

Other Preparation Work

We need to install Romeo BLE Quad development environment before usage. Since this is a secondary development edition based on Bluno M3, and all pins function are same to Bluno M3, we can refer to Bluno M3 wiki for the environment installation.
Bluno M3 V2.2 Software Development Environment\Install Software Development Environment

Sample Code

/*!
* @file RemeoBLEQuadDrive.ino
* @brief RemeoBLEQuadDrive.ino PID control system of DC motor
*
*  RemeoBLEQuadDrive.ino Use PID control 4 way DC motor direction and speed
*
* @author linfeng([email protected])
* @version  V1.0
* @date  2016-4-14
*/

#include "PID_v1.h"
#include "Motor.h"

Motor motor[4];
int motorSpeed[4] = {-200,200,400,-400};/*Set 4 speed motor*/
/* Speed=motorSpeed/(32*(setSampleTime/1000))(r/s) */
const int motorDirPin[4][2] = { //Forward, Backward
/*Motor-driven IO ports*/
  {8,23},
  {7,9},
  {24,14},
  {4,25}
};


//const double motorPidParam[3]={0.6,1,0.03};/*DC MOTOR,Yellow??180degree*/
//const double motorPidParam[3]={1.5,1,0.05};/*DC MOTOR,Yellow??90 degree*/
const double motorPidParam[3]={1.2,0.8,0.05};/*Encoder V1.0,160rd/min ;19500/min; 32:1,Kr=3.5*/
void setup( void )
{
  Serial1.begin(115200);
     for(int i=0;i<4;i++){
        motor[i].setPid(motorPidParam[0],motorPidParam[1],motorPidParam[2]);/*Tuning PID parameters*/
        motor[i].setPin(motorDirPin[i][0],motorDirPin[i][1]);/*Configure IO ports*/
        motor[i].setSampleTime(100);/*Sets the sampling period*/
                motor[i].setChannel(i);/*Sets the motor channel */
        motor[i].ready();/*Motor enable*/
                motor[i].setSpeed(motorSpeed[i]);/*Set motor speed*/
    }
}

void loop( void )
{
    for(int i = 0; i < 4; i++){
        motor[i].calibrate();/*motor PID calibrate*/
    }

}
/******************************************************************************
  Copyright (C) <2016>  <linfeng>
  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
  You should have received a copy of the GNU General Public License
  along with this program.  If not, see <http://www.gnu.org/licenses/>.
  Contact: [email protected]
 ******************************************************************************/

Result

Motor speed runs with expected speed.

Most of function has been encapsulated in the library, you can modify the output content in "Motor.cpp", line 241.

Example Code for Arduino-Speed Control