Modifications

{{ambox|text=As your batteries run out, the voltage supplied to the motor drivers (VSW) will decrease, which will make the motors slower. It is possible to account for this in your code by monitoring the battery voltage (voir [[Pololu-Romi-32U4-Carte-Alimentation|section alimentation]]) or using the encoders and other sensors to monitor the movement of the robot.}}

{{ambox|text=As your batteries run out, the voltage supplied to the motor drivers (VSW) will decrease, which will make the motors slower. It is possible to account for this in your code by monitoring the battery voltage (voir [[Pololu-Romi-32U4-Carte-Alimentation|section alimentation]]) or using the encoders and other sensors to monitor the movement of the robot.}}

== Quadrature encoders ===

== Quadrature encoders ==

The Romi 32U4 Control Board is configured to connect the quadrature encoder outputs from the Romi Encoder Pair Kit to the ATmega32U4 microcontroller. The encoders can be used to track the rotational speed and direction of the robot’s drive wheels. They provide a resolution of 12 counts per revolution of the motor shaft when counting both edges of both channels, which corresponds to approximately 1440 counts per revolution of the Romi’s wheels. For more information about the specifications of the Romi encoders, please see the Romi Encoder Pair Kit product page.

The Romi 32U4 Control Board is configured to connect the quadrature encoder outputs from the Romi Encoder Pair Kit to the ATmega32U4 microcontroller. The encoders can be used to track the rotational speed and direction of the robot’s drive wheels. They provide a resolution of 12 counts per revolution of the motor shaft when counting both edges of both channels, which corresponds to approximately 1440 counts per revolution of the Romi’s wheels. For more information about the specifications of the Romi encoders, please see the Romi Encoder Pair Kit product page.

* Pin '''PE2''' reads the '''left encoder channel B'''.

* Pin '''PE2''' reads the '''left encoder channel B'''.

{{Pololu-Romi-32U4-TRAILER}}

{{Pololu-Romi-32U4-TRAILER}}