Difference: ControlOfTheDCMotor (3 vs. 4)

Revision 42017-11-24 - uli

Line: 1 to 1

META TOPICPARENT	name="RobotSoftware"

Controlling the DC motors

Line: 6 to 6

This table shows how the driver module is connected to the Arduino Uno:

Changed:

<
<

EN A	IN 1	IN 2	IN 3	IN 4	EN B
11	10	9	7	6	5

The following pins on the Arduino Uno are PWM pins:

The IN pins define the direction of the movement and the EN

>
>

EN A	IN 1	IN 2	IN 3	IN 4	EN B
11	10	9	7	6	5

The following pins on the Arduino Uno are PWM pins:

3,5,6,9,11

Added:

>
>

The IN1-IN4 pins define the direction of the movement and the EN pin, which is a PWM signal, controls the speed.

Then controlling the robot through Bluetooth then the PWM pins allow me to have values between 0 and 255. However, the motors need a certain current before they start moving. Since the motor values sent through the protocol are 9 bits (10 bit ADC on the Arduino but forward and backward on a single joystick potentiometer) I shift the forward or backward value by 1 bit and I and it with 0xC0. After that I add the left/right value shifted right by 2 bits which should allow me to increase the speed of one wheel with respect to the other and thus turn left or right.

Uli Raich - 2017-11-21

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