NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 30

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
SOFT STOP (Free
running stop)
We can observe all the commands given on the LEDs located at the top right side on the robot.
Figure 3.20 shows the location and function of indicator LEDs related to motion control.
Figure 3.20: Motion status LED indication on the Fire Bird V main board
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
LEFT LEFT
BWD (LB) FWD(LF)
PA0 (L1) PA1 (L2)
0 1
1 0
0 1
1 0
0 1
0 0
0 0
1 0
0 0
X X
Table 3.4: Logic table for motor direction control
Fire Bird V ATMEGA2560 Hardware Manual
RIGHT RIGHT
FWD(RF) BWD(RB)
PA2 (R1) PA3 (R2)
1 0
0 1
0 1
1 0
0 0
1 0
0 1
0 0
0 0
X X
PWM
PL3 (PWML) for
left motor
PL4 (PWMR) for
right motor
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
As per velocity
requirement
0
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