DFROBOT Romeo V2 User manual

Brand: DFROBOT

Model: Romeo V2

Type: User manual

This manual is also suitable for

DFR0225

TheanalogsensorportpinmappingonRoMeov2is
differentfromtheversionbefore.Becarefultowireyour
sensororotherdevicescorrectlyorthewrongpower
connectionwoulddestroyyourdevice.
PleaseTurnOFFtheMotorPowerSwitchwhendebugging
RomeothroughUSBcable.Ortheexternalpower
supply(>12V)willdestroyyourRomeo.
(/wiki/index.php/File:RomeoV2.png)
DFRduinoRoMeoV2(R3)
RomeoV2AllinoneController(R3)(SKU:DFR0225)
Contents
1 Introduction
2 Specification
3 RoMeoV2Pinout
3.1 Powersolutiondesign
3.2 ExampleuseofButtonS1S5
3.3 PinAllocation
3.4 PWMControlMode
3.5 PLLControlMode
4 Troubleshooting
5 More
Introduction
RoMeoV2[R3]isanAllinOneArduinocompatiblemicrocontrollerespeciallydesignedforroboticsapplications
fromDFRobot.TheRomeobenefitsfromtheArduinoopensourceplatform,itissupportedbythousandsofopen
sourcecodes,andcaneasilybeexpandedwithArduinoShields.Theintegrated2wayDCmotordriverand
Xbeesocketallowsyoutostartyourprojectimmediatlywithouttheneedforanadditionalmotordriverorwirless
shield.
(/wiki/index.php/File:Warning_yellow.png)
NOTE:
PleaseselectLeonardoboardwhenuploadingasketchbyArduinoIDE.
Serialport0or1ReadmorefromArduino.cc(https://www.arduino.cc/en/Reference/Serial):Please
useSerial1.***()insteadofSerial.***()incodetocommunicatewithdevicesconnectedtoserial
interface,i.e.Pin0/1.e.g.Bluetooth,WiFimodule,Xbeeetc.Serial.***()isforUSBdebuggingonpc
serialmonitor.
Analog0:IfyouaregoingtousetheAnalogport0,youhavetopayattentiontotheswitch(s1s5),
turnitOFFplease.TherearefivebuttonsconnectedtoA0,ifyouturnONthebuttonswitch,thenthe
A0readvaluewouldbenottheoneyouwant.
Specification
Basic Feature
ImprovementcomparedwithRomeov1.1
(http://www.dfrobot.com/wiki/index.php/DFRduino_Romeo
All_in_one_Controller_V1.1(SKU:DFR0004))

DCSupply:USBPoweredor

External6V~23VDC

DCOutput:5V(200mA)/

3.3V(100mA)

MotordriverContinuous

OutputCurrent:2A

Microcontroller:ATmega32u4

Bootloader:Arduino

Leonardo

SerialInterface

TTLLevel(Serial1.***();)

USB(Serial.***())

Size:89x84x14mm

Compatiblewith

theArduinoR3

pinmapping

AnalogInputs:

A0A5,A6A11

(ondigitalpins4,

6,8,9,10,and

12)

PWM:3,5,6,9,

10,11,and13.

Provide8bit

PWMoutput

5keyinputsfor

testing

Auto

sensing/switching

externalpower

input

SupportMale

andFemalePin

Header

BuiltinXbee

socket

Integrated

socketsfor

APC220RF

ModuleandDF

BluetoothModule

ThreeI2C/TWI

InterfacePin

Sets(two90°pin

headers)

TwowayMotor

Driverwith2A

maximumcurrent

Wideoperatinginputvoltage

DirectlysupportXbeeandXBeeformfactorwifi,bluetooth

andRFmodules

ON/OFFswitchtocontrolthesystempowerfromextermal

motorpower

3DigitalI/Oextension(D14D16)

S1S5switchreplacejumpcap

MicroUSBinsteadofABUSBconnector

Analogsensorextensionport:OrangeforSignal,Redfor

Vcc,BlackforGND

RoMeoV2Pinout

(/wiki/index.php/File:RomeoV2R3.png)

Fig1:RomeoV2PinOut

Powersolutiondesign

Thismotorcontrollerpowersolutionisspeciallydesignedfortheroboticsapplication.

ServoPowerterminal

Itintegratedanexternalservopowerterminal.Therangeofthispowerinputisabout5~12v.Werecommend

youtouse5v.Sotheservopowersupplyextensionwon'tbreakthedigitalsensorsconnectedtothe3p

digitalsensorinterface.However,fordriving6~12vservoswiththevoltageinputhigherthan5v,it'snot

availabletoextend5vsensoronallthedigitalsensorinterfaceanymore.

Theservopowerterminalwon'tsupplysystemworkingvoltage.

MotorPowerterminal

Thesettingforthesystem&motorpowerswitch:

On:supplypowertothemotordriverandsystempowerregulator.Theinputrangeisfrom5~23volts.It's

suitableformostofrobotplatform.

Off:Isolatethesystempowersupplyfromthemotorpower.Inthiscase,itrequirestosupplysystemvoltage

fromMicroUSBport,5vpowersourceto5v&GNDpinsdirectlyor5~23vpowersourcetoVIN&GNDpins.

ExampleuseofButtonS1S5

charmsgs[5][15]={

"RightKeyOK",

"UpKeyOK",

"DownKeyOK",

"LeftKeyOK",

"SelectKeyOK"};

charstart_msg[15]={

"Startloop"};

intadc_key_val[5]={

30,150,360,535,760};

intNUM_KEYS=5;

intadc_key_in;

intkey=‐1;

intoldkey=‐1;

voidsetup(){

pinMode(13,OUTPUT);//we'llusethedebugLEDtooutputaheartbeat

Serial.begin(9600);

/*Printthatwemadeithere*/

Serial.println(start_msg);

}

voidloop()

{

adc_key_in=analogRead(0);//readthevaluefromthesensor

digitalWrite(13,HIGH);

/*getthekey*/

key=get_key(adc_key_in);//convertintokeypress

if(key!=oldkey){//ifkeypressisdetected

delay(50);//waitfordebouncetime

adc_key_in=analogRead(0);//readthevaluefromthesensor

key=get_key(adc_key_in);//convertintokeypress

if(key!=oldkey){

oldkey=key;

if(key>=0){

Serial.println(adc_key_in,DEC);

Serial.println(msgs[key]);

}

}

}

digitalWrite(13,LOW);

}

//ConvertADCvaluetokeynumber

intget_key(unsignedintinput)

{

intk;

for(k=0;k<NUM_KEYS;k++)

{

if(input<adc_key_val[k])

{

returnk;

}

}

if(k>=NUM_KEYS)

k=‐1;//Novalidkeypressed

returnk;

}

PinAllocation

"PWMMode"

Pin Function

Digital4 Motor1Directioncontrol

Digital5 Motor1PWMcontrol

Digital6 Motor2PWMcontrol

Digital7 Motor2Directioncontrol

"PLLMode"

Pin Function

Digital4 Motor1Enablecontrol

Digital5 Motor1Directioncontrol

Digital6 Motor2Directioncontrol

Digital7 Motor2Enablecontrol

PWMControlMode

(/wiki/index.php/File:RomeoMotorJmp.png)

Fig4:PWMMotor

ControlPin

Allocation

ThePWMDCmotorcontrolisimplementedbymanipulatingtwodigitalIOpinsandtwoPWMpins.Asillustrated

inthediagramabove(Figure5),Pin4,7(7,8foroldRomeoversion)aremotordirectioncontrolpins,Pin5,6(6,9

foroldRomeoversion)aremotorspeedcontrolpins.

SampleCode：

//StandardPWMDCcontrol

intE1=5;//M1SpeedControl

intE2=6;//M2SpeedControl

intM1=4;//M1DirectionControl

intM2=7;//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

voidstop(void)//Stop

{

digitalWrite(E1,LOW);

digitalWrite(E2,LOW);

}

voidadvance(chara,charb)//Moveforward

{

analogWrite(E1,a);//PWMSpeedControl

digitalWrite(M1,HIGH);

analogWrite(E2,b);

digitalWrite(M2,HIGH);

}

voidback_off(chara,charb)//Movebackward

{

analogWrite(E1,a);

digitalWrite(M1,LOW);

analogWrite(E2,b);

digitalWrite(M2,LOW);

}

voidturn_L(chara,charb)//TurnLeft

{

analogWrite(E1,a);

digitalWrite(M1,LOW);

analogWrite(E2,b);

digitalWrite(M2,HIGH);

}

voidturn_R(chara,charb)//TurnRight

{

analogWrite(E1,a);

digitalWrite(M1,HIGH);

analogWrite(E2,b);

digitalWrite(M2,LOW);

}

voidsetup(void)

{

inti;

for(i=4;i<=7;i++)

pinMode(i,OUTPUT);

Serial.begin(19200);//SetBaudRate

Serial.println("Runkeyboardcontrol");

}

voidloop(void)

{

if(Serial.available()){

charval=Serial.read();

if(val!=‐1)

{

switch(val)

{

case'w'://MoveForward

advance(255,255);//moveforwardinmaxspeed

break;

case's'://MoveBackward

back_off(255,255);//movebackinmaxspeed

break;

case'a'://TurnLeft

turn_L(100,100);

break;

case'd'://TurnRight

turn_R(100,100);

break;

case'z':

Serial.println("Hello");

break;

case'x':

stop();

break;

}

}

elsestop();

}

}

PLLControlMode

TheRomeoalsosupportsPLLPhaselockedloop(/wiki/index.php/Phase_locked_loop)controlmode.

(/wiki/index.php/File:Romeov11xxx.png)

Fig5:PLLMotor

ControlPin

Allocation

Configuration

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=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;

}

}

}

}

Troubleshooting

Morequestionandcoolidea,visitDFRobotForum(http://www.dfrobot.com/index.php?route=DFblog/blogs)

RomeoSchematicV2(http://www.dfrobot.com/image/data/DFR0225/Romeo%20V2.0%20sch.pdf)

(http://www.dfrobot.com/)BUYfromDFRobotStore(http://www.dfrobot.com/index.php?

route=product/product&filter_name=romeo&product_id=844)orDFRobotDistributorList

(http://www.dfrobot.com/index.php?route=information/distributorslogo)

Categories(/wiki/index.php/Special:Categories):

ProductManual(/wiki/index.php/Category:Product_Manual)

DFRSeries(/wiki/index.php/Category:DFR_Series) MotorControllers(/wiki/index.php/Category:Motor_Controllers)

MicroControllers(/wiki/index.php/Category:MicroControllers)

Thispagewaslastmodifiedon14March2016,at04:15.

ContentisavailableunderGNUFreeDocumentationLicense1.3orlater(https://www.gnu.org/copyleft/fdl.html)unlessotherwisenoted.

(https://www.gnu.org/copyleft/fdl.html)  (//www.mediawiki.org/)

DFROBOT Romeo V2 User manual

Brand: DFROBOT

Model: Romeo V2

Type: User manual

This manual is also suitable for

DFR0225

Download PDF

report

DFROBOT Romeo V2 User manual

This manual is also suitable for

DFROBOT Romeo V2 User manual

Related papers

Other documents