NEX ROBOTICS SPARK V ATMEGA16 Hardware Manual page 18

SPARK V ATMEGA16 Hardware Manual
Figure 3.9: Pulse Width Modulation (PWM)
Above figure shows the PWM waveforms for motor velocity control. In case (A), ON time is
90% of time period. This wave has more average value. Hence more power is delivered to the
motor. In case (B), the motor will run slower as the ON time is just 10% of time period.
Figure 3.10: Motion Control
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA 18