DFROBOT DFR0225 User manual

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)

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DFROBOT DFR0225, Romeo V2 User manual

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