NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 117

7.5.2 Commands to set direction of the robot:
Command
( HEX )
51
52
53
54
55
56
57
58
59
Example: To set left motor velocity to 0x84, right motor velocity to 0x65, and move
backward.
Step1: 0x14 Load the lower nibble '4' of the left motor speed into the robot
Step2: Delay of at least 3 milliseconds
Step3: 0x28 Load the upper nibble '8' of the left motor speed into the robot and execute the
command
Step4: Delay of at least 3 milliseconds
Step5: 0x35 Load the lower nibble '5' of the right motor speed into the robot
Step6: Delay of at least 3 milliseconds
Step7: 0x46 Load the upper nibble '6' of the right motor speed into the robot and execute the
command
Step8: Delay of at least 3 milliseconds
Step9: 0x52 move backward
Step10: Delay of at least 3 milliseconds before loading next command
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
DIRECTION
FORWARD
REVERSE
RIGHT (Left wheel
forward, Right
wheel backward)
LEFT(Left wheel
backward, Right
wheel forward,)
SOFT RIGHT(Left
wheel forward,,
Right wheel stop)
SOFT LEFT(Left
wheel stop, Right
wheel forward,)
SOFT RIGHT 2
(Left wheel stop,
Right wheel
backward)
SOFT LEFT 2 (Left
wheel backward,
Right wheel stop)
HARD STOP
Fire Bird V ATMEGA2560 Hardware Manual
LEFT
LEFT
BWD
FWD(LF)
(LB)
PA1
PA0
0 1
1 0
0 1
1 0
0 1
0 0
0 0
1 0
0 0
Table 7.2
RIGHT RIGHT
FWD(RF) BWD(RB)
PA2 PA3
1 0
0 1
0 1
1 0
0 0
1 0
0 1
0 0
0 0
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