Pololu-Romi-32U4-Carte-Moteur-et-encodeur
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En cours de traduction/élaboration. |
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 lien pololu. 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 DRV8838 datasheet (1MB pdf). Popolu propose également une carte contrôleur moteur dit carrier board lien pololu exploitant la DRV8838.
The Romi32U4 library provides functions that allow you to easily control the motors (voir "Programmer avec avr-gcc et AVRDUDE").
The motor driver connections are brought out to two pairs of headers that are intended to interface with the Paire d'encodeur rotatif pour Romi lien pololu. 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).
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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 section alimentation) or using the encoders and other sensors to monitor the movement of the robot. |
Basé sur "Guide utilisateur de la carte de contrôle Romi 32U4" de Pololu (https://www.pololu.com/docs/0J69) - Traduit en Français par shop.mchobby.be CC-BY-SA pour la traduction
Toute copie doit contenir ce crédit, lien vers cette page et la section "crédit de traduction". Traduit avec l'autorisation expresse de Pololu (www.pololu.com)
Based on "Pololu Romi 32U4 Control Board User’s Guide" from Pololu (https://www.pololu.com/docs/0J69) - Translated to French by shop.mchobby.be CC-BY-SA for the translation
Copies must includes this credit, link to this page and the section "crédit de traduction" (translation credit). Translated with the Pololu's authorization (www.pololu.com)