DFRobot Romeo All-in-one Microcontroller (ATMega 328) Product code : RB-Dfr-36. Manual. o o. o o o. o 6.2 Example use of Button 1-5. o o o o.

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1 DFRbt Rme All-in-ne Micrcntrller (ATMega 328) Prduct cde : RB-Dfr-36 Manual A. Please read this manual carefully befre applying pwer n the device. B. D nt use this device fr military r medical purpse as they are nt designed t. Cntents 1 Intrductin 2 Specificatin 3 DFRduin RMe Pinut 4 Befre yu start 4.1 Applying Pwer 4.2 Sftware 5 Rme Cnfiguratin 5.1 Serv Pwer Select Jumper 5.2 Mtr Cntrl Pin Jumper 5.3 Wireless Select Jumper 6 Tutrial 6.1 Buttn Press 6.2 Example use f Buttn Dual DC Mtr Speed Cntrl 7.1 Hardware Setting 7.2 Pin Allcatin 7.3 PWM Cntrl Mde 7.4 PLL Cntrl Mde 8 Schematics

2 Intrductin RMe is an All-in-One micrcntrller especially designed fr rbtics applicatin. Benefit frm Arduin pen surce platfrm, it is supprted by thusands f pen surce cdes, and can be easily expanded with mst Arduin Shields. The integrated 2 way DC mtr driver and wireless scket gives a much easier way t start yur rbtic prject. Specificatin Atmega 168/ Channels Digital I/O 6 PWM Channels (Pin11,Pin10,Pin9,Pin6,Pin5,Pin3) 8 Channels 10-bit Analg I/O USB interface Aut sensing/switching pwer input ICSP header fr direct prgram dwnlad Serial Interface TTL Level Supprt AREF Supprt Male and Female Pin Header Integrated sckets fr APC220 RF Mdule and DF-Bluetth Mdule Five I2C Interface Pin Sets Tw way Mtr Drive with 2A maximum current 7 key inputs DC SupplyUSB Pwered r External 7V~12V DC DC Output5V /3.3V DC and External Pwer Output

3 Dimensin90x80mm DFRduin RMe Pinut Figure 1 Rme Pin Out The picture abve shws all f the I/O lines and Cnnectrs n the Rme, which includes: One Regulated Mtr Pwer Input Terminal (6v t12v) One Unregulated Serv Pwer Input Terminal (yu supply regulated 4v t 7.2v) One Serv input pwer selectin jumper One Serial Interface Mdule Header fr APC220/Bluetth Mdule Tw DC Mtr Terminals Handles mtr current draw up t 2A, each terminal One I2C/TWI Prt SDA, SCL, 5V, GND One Analg Prt with 8 analg inputs ne input is tied internally t the supply vltage One General Purpse I/O Prt with 13 I/O lines 4,5,6,7 can be used t cntrl mtrs One Reset Buttn Jumper bank t Enable/Disable Mtr Cntrl

4 Befre yu start Applying Pwer This is ne f the mst imprtant steps in getting the Rme up and cmmunicating with yur hst cntrller. Yu MUST make sure that yu apply pwer t the Pwer Terminal using the crrect plarity. Reverse Plarity will damage the Rme. We are nt respnsible fr such damage, nr d we warranty against such damage. Make sure yu take time t apply pwer crrectly. Otherwise, it culd get cstly fr yu! Pwer frm USB: Simply plug USB cable, and the Rme is able t wrk. Please ntice that the USB can nly supply 500 ma current. It shuld be able t meet the mst requirements fr LED lit applicatin. Hwever it is nt enugh t pwer DC mtrs r serv. Pwer frm Mtr Pwer Input: Simply cnnect the grund wire frm yur supply t the screw terminal labeled GND, and then cnnect the psitive wire frm yur supply t the screw terminal labeled VIN". NOTE: Maximum supply vltage cannt exceed 14V DC. Sftware RMe can be prgrammed by Arduin IDE 0014 and abve versin. It can be dwnladed at Please select Arduin Nan as the hardware. Rme Cnfiguratin Serv Pwer Select Jumper As mst serv draw mre current than the USB pwer surce can supply. A separate serv pwer terminal is prvided t pwer the serv individually which can be Enable/Disable by the Serv Pwer Select Jumper. When the Serv Pwer Select Jumper is applied, the serv is pwered by internal 5V. When the Serv Pwer Select Jumper is nt applied, the serv is pwered by external pwer surce. The Rme V1.0 uses an autmatic switcher fr the pwer surce selectin. When the external pwer surce has been applied, the serv will be autmatically pwered by the external pwer instead f USB pwer. Mtr Cntrl Pin Jumper Applying the Mtr Cntrl Pin Jumpers will allcate Pin 5,6,7,8 fr mtr cntrl. Remving the jumpers will release the abve Pins. Wireless Select Jumper Applying the Wireless Select Jumper will allw the Rme cmmunicate via its wireless mdule such as APC220 and DF-Bluetth mdule. If n wireless mdule is plugged, this jumper des nt make any difference. Remving the jumper will disable wireless mdule and allws the sketch t be upladed.

5 Tutrial Buttn Press RMe has 7 build in buttns S1-S7 (Figure 2). S1-S5 use analg input, S6,S7 use digital input. Figure 2 Rme Buttns Example use f Buttn 1-5 // //Key message char msgs[5][15] = "Right Key OK ", "Up Key OK ", "Dwn Key OK ", "Left Key OK ", "Select Key OK" ; int adc_key_val[5] =30, 150, 360, 535, 760 ; int NUM_KEYS = 5; int adc_key_in; int key=-1; int ldkey=-1; vid setup() pinmde(13, OUTPUT); //we'll use the debug LED t utput a heartbeat vid lp() adc_key_in = analgread(0); // read the value frm the sensr digitalwrite(13, HIGH); key = get_key(adc_key_in); // cnvert int key press if (key!= ldkey) // if keypress is detected delay(50); // wait fr debunce time adc_key_in = analgread(0); // read the value frm the sensr key = get_key(adc_key_in); // cnvert int key press if (key!= ldkey)

6 ldkey = key; if (key >=0) Serial.printIn(msgs[key]); digitalwrite(13, LOW); // Cnvert ADC value t key number int get_key(unsigned int input) int k; fr (k = 0; k < NUM_KEYS; k++) if (input < adc_key_val[k]) return k; if (k >= NUM_KEYS) k = -1; // N valid key pressed return k; T enable S6 and S7, please apply the jumpers indicated in the red circle. S6 uses Digital Pin2, S7 uses Digital Pin3. Once these enable jumpers have been applied, Pin 2 and 3 will be ccupied (Figure 3).

7 Figure 3 Buttn Enable Jumpers Sample cde int ledpin = 13; int key_s6 = 2; int val=0; vid setup() pinmde(ledpin, OUTPUT); // Set Pin13 t utput mde pinmde(key_s6, INPUT); // Set Pin12 t utput mde vid lp() if(digitalread(key_s6)==0) // while(!digitalread(key_s6)); val++; if(val==1) digitalwrite(ledpin, HIGH); //

8 if(val==2) val=0; digitalwrite(ledpin, LOW); // //Sample 2: //Cde functin: Press buttn S6, turn n LED, Press buttn S7, turn ff LED. Sample cde int ledpin = 13; // int key_s6 = 2; // int key_s7 = 3; // vid setup() pinmde(ledpin, OUTPUT); // pinmde(key_s6, INPUT); // pinmde(key_s7, INPUT); // vid lp() if(digitalread(key_s6)==0) // digitalwrite(ledpin, HIGH); // if(digitalread(key_s7)==0) // digitalwrite(ledpin, LOW); //

9 Dual DC Mtr Speed Cntrl Hardware Setting Cnnect fur mtr wires t Mtr Terminal. And apply pwer thrugh mtr pwer terminal (Figure 4). Figure 4 Rme Mtr Cnnectin Diagram

10 Pin Allcatin "PWM Mde" Pin Digital 4 Digital 5 Digital 6 Digital 7 Functin Mtr 1 Directin cntrl Mtr 1 PWM cntrl Mtr 2 PWM cntrl Mtr 2 Directin cntrl "PLL Mde" Pin Digital 4 Digital 5 Digital 6 Digital 7 Functin Mtr 1 Enable cntrl Mtr 1 Directin cntrl Mtr 2 Directin cntrl Mtr 2 Enable cntrl PWM Cntrl Mde

11 Figure 5 PWM Mtr Cntrl Pin Allcatin The PWM DC mtr cntrl is implemented by manipulating tw digital IO pins and tw PWM pins. As illustrated in the diagram abve (Figure 5), Pin 4,7 (7,8 fr ld Rme versin) are mtr directin cntrl pins, Pin 5,6 (6,9 fr ld Rme versin) are mtr speed cntrl pins. Fr previus Rme bard, the pins used t cntrl the mtr is Pin 7,8 (Directin), Pin 6,9 (Speed). Yu can find the infrmatin at the right side f the Mtr Cntrl Pin Jumpers. Sample Cde //Standard PWM DC cntrl int E1 = 5; int E2 = 6; int M1 = 4; int M2 = 7; //M1 Speed Cntrl //M2 Speed Cntrl //M1 Directin Cntrl //M1 Directin Cntrl ///Fr previus Rme, please use these pins. //int E1 = 6; //M1 Speed Cntrl //int E2 = 9; //M2 Speed Cntrl //int M1 = 7; //M1 Directin Cntrl //int M2 = 8; //M1 Directin Cntrl vid stp(vid) digitalwrite(e1,low); digitalwrite(e2,low); vid advance(char a,char b) analgwrite (E1,a); digitalwrite(m1,high); analgwrite (E2,b); digitalwrite(m2,high); vid back_ff (char a,char b) analgwrite (E1,a); digitalwrite(m1,low); analgwrite (E2,b); digitalwrite(m2,low); vid turn_l (char a,char b) analgwrite (E1,a); //Stp //Mve frward //PWM Speed Cntrl //Mve backward //Turn Left

12 digitalwrite(m1,low); analgwrite (E2,b); digitalwrite(m2,high); vid turn_r (char a,char b) //Turn Right analgwrite (E1,a); digitalwrite(m1,high); analgwrite (E2,b); digitalwrite(m2,low); vid setup(vid) int i; fr(i=6;i<=9;i++) pinmde(i, OUTPUT); Serial.begin(19200); //Set Baud Rate vid lp(vid) char val = Serial.read(); if(val!=-1) switch(val) case 'w'://mve Frward advance (100,100); //PWM Speed Cntrl break; case 's'://mve Backward back_ff (100,100); break; case 'a'://turn Left turn_l (100,100); break; case 'd'://turn Right turn_r (100,100); break; delay(40); else stp();

13 PLL Cntrl Mde The Rme als supprt PLLPhase lcked lp cntrl mde. Sample Cde //Standard DLL Speed cntrl int E1 = 4; int E2 = 7; int M1 = 5; int M2 = 6; //M1 Speed Cntrl //M2 Speed Cntrl //M1 Directin Cntrl //M1 Directin Cntrl

14 ///Fr previus Rme, please use these pins. //int E1 = 6; //M1 Speed Cntrl //int E2 = 9; //M2 Speed Cntrl //int M1 = 7; //M1 Directin Cntrl //int M2 = 8; //M1 Directin Cntrl //When m1p/m2p is 127, it stps the mtr //when m1p/m2p is 255, it gives the maximum speed fr ne directin //When m1p/m2p is 0, it gives the maximum speed fr reverse directin vid DriveMtrP(byte m1p, byte m2p)//drive Mtr Pwer Mde digitalwrite(e1, HIGH); analgwrite(m1, (m1p)); digitalwrite(e2, HIGH); analgwrite(m2, (m2p)); vid setup(vid) int i; fr(i=6;i<=9;i++) pinmde(i, OUTPUT); Serial.begin(19200); //Set Baud Rate vid lp(vid) char val = Serial.read(); if(val!=-1) switch(val) case 'w'://mve Frward DriveMtrP(0xff,0xff); break; case 'x'://mve Backward DriveMtrP(0x00,0x00);; break; case 's'://stp DriveMtrP(0x7f,0x7f); break;

15 delay(40);

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