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DFRduino RomeoAll in one Controller
V1.1(SKU:DFR0004)
Contents
1 Introduction
2 Specification
Introduction
RoMeo is an AllinOne microcontroller especially designed for robotics application. Benefit
from Arduino open source platform, it is supported by thousands of open source codes, and
can be easily expanded with most Arduino Shields. The integrated 2 way DC motor driver and
wireless socket gives a much easier way to start your robotic project.
Note:
A. Please read this manual carefully before applying power on the device.
B. Do not use this device for military or medical purpose as they are not designed to.
Specification
Atmega 168/328
14 Channels Digital I/O
6 PWM Channels (Pin11,Pin10,Pin9,Pin6,Pin5,Pin3)
8 Channels 10bit Analog I/O
USB interface
Auto sensing/switching power input
ICSP header for direct program download
Serial Interface TTL Level
Support AREF
Support Male and Female Pin Header
Integrated sockets for APC220 RF Module and DFBluetooth Module
Five I2C Interface Pin Sets
DFRduino RoMeo V1.1
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Table of Contents
Related Manuals for DFRobot DFRduino DFR0004
Summary of Contents for DFRobot DFRduino DFR0004
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Page 1: Table Of Contents
DFRduino RomeoAll in one Controller V1.1(SKU:DFR0004) Contents 1 Introduction 2 Specification 3 DFRduino RoMeo Pinout 4 Before you start 4.1 Applying Power 4.2 Software 5 Romeo Configuration 5.1 Servo Power Select Jumper 5.2 Motor Control Pin Jumper 6 Tutorial (/wiki/index.php/File:RomeoV11.jpg) 6.1 Button Press DFRduino RoMeo V1.1 6.2 Example use of Button 15 7 Dual DC Motor Speed Control 7.1 Hardware Setting 7.2 Pin Allocation 7.3 PWM Control Mode 7.4 PLL Control Mode 8 Schematics Introduction RoMeo is an AllinOne microcontroller especially designed for robotics application. Benefit from Arduino open source platform, it is supported by thousands of open source codes, and... -
Page 2: Dfrduino Romeo Pinout
Two way Motor Drive with 2A maximum current 5 key inputs DC Supply：USB Powered or External 7V~12V DC。 DC Output：5V /3.3V DC and External Power Output Dimension：90x80mm DFRduino RoMeo Pinout (/wiki/index.php/File:Romeo_v1.1_pinout_Diagram.png) Fig1: Romeo Pin Out The picture above shows all of the I/O lines and Connectors on the Romeo, which includes: One Regulated Motor Power Input Terminal (6v to12v) One Unregulated Servo Power Input Terminal (you supply regulated 4v to 7.2v) One Servo input power selection jumper One Serial Interface Module Header for APC220/Bluetooth Module Two DC Motor Terminals – Handles motor current draw up to 2A, each terminal One I2C/TWI Port – SDA, SCL, 5V, GND One Analog Port with 8 analog inputs – Analog input 7 will be occupied when connecting "A7" jumper One General Purpose I/O Port with 13 I/O lines – 4,5,6,7 can be used to control motors One Reset Button Jumper bank to Enable/Disable Motor Control Before you start Applying Power... -
Page 3: Software
Applying Power This is one of the most important steps in getting the Romeo up and communicating with your host controller. You MUST make sure that you apply power to the Power Terminal using the correct polarity. Reverse Polarity will damage the Romeo. We are not responsible for such damage, nor do we warranty against such damage. Make sure you take time to apply power correctly. Otherwise, it could get costly for you! Power from USB: Simply plug USB cable, and the Romeo is able to work. Please notice that the USB can only supply 500 mA current. It should be able to meet the most requirements for LED lit application. However it is not enough to power DC motors or servo. Power from Motor Power Input: Simply connect the ground wire from your supply to the screw terminal labeled “GND”, and then connect the positive wire from your supply to the screw terminal labeled “VIN". NOTE: Maximum supply voltage cannot exceed 14V DC. Software RoMeo can be programmed by Arduino IDE 0022 and above. It can be downloaded at Arduino.cc (http://arduino.cc/en/Main/Software), Please select “Arduino UNO” as the hardware. Romeo Configuration Servo Power Select Jumper As most servos draw more current than the USB power source can supply. A separate servo power terminal is provided to power the servo individually. This option can be Enabled/Disabled by the Servo Power Select Jumper. When the Servo Power Select Jumper is applied, the servo is powered by internal 5V. When the Servo Power Select Jumper is not applied, the servo is powered by external power source. The Romeo V1.0 uses an automatic switcher for the power source selection. When the external power source has been applied, the servo will be automatically powered by the external power instead of USB power. Motor Control Pin Jumper Applying the Motor Control Pin Jumpers will allocate Pin 5,6,7,8 for motor control. Removing the jumpers will release the above Pins, and the motor controller will be disabled. Tutorial Button Press RoMeo has 5 build in buttons S1S5 (Figure 2). S1S5 use analog input 7, "Button Pin Map" Function Analog Pin 7 Button S1S5... -
Page 4: Example Use Of Button 15
(/wiki/index.php/File:RomeoButtons.png) Fig2: Romeo Buttons Example use of Button 15... -
Page 5: Dual Dc Motor Speed Control
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(7); // 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(7); // 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;... -
Page 6: Pin Allocation
Connect four motor wires to Motor Terminal. And apply power through motor power terminal (Figure 4). (/wiki/index.php/File:RomeoSample.png) Fig3: Romeo Motor Connection Diagram Pin Allocation "PWM Mode" 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" 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... - Page 7 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. For previous Romeo board, the pins used to control the motor is Pin 7,8 (Direction), Pin 6,9 (Speed). You can find the information at the right side of the Motor Control Pin Jumpers. Sample Code：...
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Page 8: For Previous Romeo, Please Use These Pins
//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");... -
Page 9: Pll Control Mode
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：... -
Page 10: Schematics
//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; } } } Schematics schematic (http://www.dfrobot.com/image/data/DFR0004/RoMeo%20V1.1%20sch.pdf) Romeo Schematic V1.0 (http://www.dfrobot.com/image/data/DFR0004/RoMeo_Schematic_V1.pdf) Romeo Schematic V0.9 (http://www.dfrobot.com/wiki/images/a/a0/RoMeo_Schematic.png) - Page 11 (/wiki/index.php/File:Nextredirectltr.png)Go Shopping RomeoAll in one Controller (Arduino Compatible Atmega 328) (SKU:DFR0004) (http://www.dfrobot.com/index.php? route=product/product&keyword=DFR0004&category_id=0&description=1&model=1&product_id=56) 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 7 August 2015, at 10:49. 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/)