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Pololu-Romi-32U4-Carte-Moteur-et-encodeur (voir la source)
Version du 21 mai 2019 à 18:40
, 21 mai 2019 à 18:40aucun résumé de modification
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== Contrôleur moteurs ==
The Romi 32U4 Control Board has two Texas Instruments DRV8838 motor drivers that are used to power the Romi chassis’s two mini plastic gearmotors {{polpl|1520}}. Four Arduino pins are used to control the drivers:
* '''Digital pin 15''', or PB1, controls the '''right motor direction''' (LOW drives the motor forward, HIGH drives it in reverse).
* '''Digital pin 16''', or PB2, controls the '''left motor direction'''.
* '''Digital pin 9''', or PB5, controls the '''right motor speed''' with PWM (pulse width modulation) generated by the ATmega32U4’s Timer1.
* '''Digital pin 10''', or PB6, controls the '''left motor speed''' with PWM.
For more information about the drivers, see the [https://www.pololu.com/file/0J806/drv8838.pdf DRV8838 datasheet] (''1MB pdf''). We also sell a carrier board {{polpl|2990}} for this driver.
The Romi32U4 library provides functions that allow you to easily control the motors (see Section 6).
The motor driver connections are brought out to two pairs of headers that are intended to interface with the Romi Encoder Pair Kit. A pair of low-profile female headers is included with the Romi 32U4 Control Board and can be soldered into either the outer or inner row of through-holes on each side. (Note that these headers must be soldered into the positions that match the male header installed on the encoder board.)
{{Pololu-Romi-32U4-TRAILER}}
{{Pololu-Romi-32U4-TRAILER}}