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Romeo BLE Quad Robot Controller SKU:
DFR0398
Romeo BLE Quad Robot Controller SKU: DFR0398
Contents [hide]
1 Introduction
2 Features
3 Specification
4 Board Overview
5 Tutorial
5.1 PID Speed Control
5.2 Requirements
5.3 Connection Diagram
5.4 Sample Code
5.5 Expected Results
6 FAQ
7 More
Introduction
Romeo BLE Quad is an arduino compatible robot controller based on STM32 ARM chip.
It inherits all features from the Bluno M3, including wireless programming support,
wireless communication between iOS/Android apps and remote control. Beyond this it
also includes a 4-way DC motor driver and encoder interfaces. You can implement a
robot with PID closed-loop feedback control directly with our TT Geared Motor.
As well as this the Romeo BLE Quad offers powerful performance thanks to the STM32 ARM 32-bit microcontroller with more storage space
and more interface resources. DFRobot has developed bespoke firmware to make it compatible with Arduino IDE and accessible to
beginners to robotics.
Note: The operating voltage of Romeo BLE Quad is 3.3V, please read the Board Overview carefully before usage!
Features
Supports Arduino IDE/Arduino C
Supports Bluetooth Wireless Communications/Programming
Supports Android and iOS applications, open source code, suitable for secondary development by the user
Supports AT commands to configure BLE
Upgradable firmware
4WD Support
Specification
Microcontroller: STM32 F103RET6
Clock Speed: 72 MHZ
Bluetooth Chip: TI CC2540 (Bluetooth 4.0)
Communication Range: 30m
Operating Voltage: 3.3V
DC Supply: USB Powered or External 7V~10V DC
DC Motor: 4 way
Supports USB and external power supply automatic switching
Digital I/O Pins: 10
Analog I/O Pins: 5
I2C/IWC: 30 (Default SDA), 29 (Default SCL)
SRAM: 64k
Flash: 512K (Customizable Flash assignment, refer to Flash chapter for more info)
Default User Code repository: 492K
Default User Data repository: 20KA
Serial Port: 2 (Serial1, Serial3)
Serial1 0 (Rx1) and 1 (Tx1)
Serial3 30 (Rx3), and 29 (Tx3)
Size: 67 x 42 (mm)
Weight: 54g
NOTE: Romeo BLE Quad serial port starts from Serial1, it is in charge of USB & Bluetooth communication. You need to change
Search
Board Overview
Serial to ‘’‘Serial1’‘’ in the sketch if you want to use serial monitor.
Board Overview
Motor GPIO 1 GPIO 2 Encoder A Encoder B
M1 823 12 11
M2 7 9 2 3
M3 24 14 526
M4 425 35 36
Note: Romeo BLE Quad integrates 2x HR8833 motor driver, the driving method is a little different to the common L298 motor
controller, you can check the detail here: Dual 1.5A Motor Driver - HR8833 SKU: DRI0040
Recommend fast decay mode. (Encapsulated in the library)
Forward: GPIO 1 = Low (Direction); GPIO 2 = PWM (Speed)
Reverse: GPIO 2 = Low (Direction): GPIO 1 = PWM (Speed)
Special Attention: The operating voltage of Romeo BLE Quad is 3.3V, only some of pins support 5V input, please read the following
instruction carefully before usage! Or it will destroy the micro chip.
3.3V only: D20, D27, D28
5VCompatible：D0, D1, D29, D30, D31, D32, D33
Analog Input Pins, A0~A4, have 5V bleeder circuit, "0~5V" will be mapped to "0~1023" analog value.
Tutorial
We need to install Romeo BLE Quad development environment before usage. Since this is a secondary development edition based on
Bluno M3, and all pins function are same to Bluno M3, we can refer to Bluno M3 wiki for the environment installation.
Bluno M3 V2.2 Software Development Environment\Install Software Development Environment
PID Speed Control
In this tutorial, we'll use TT Geared Motor with Encoder. There are some important parameters:
Sampling period: setSampleTime (in this case: 100 ms, 0.1s)
The number of quadrature encoders in the sampling period motorSpeed (In this case: 200)
Motor encoder pole number (in this case: 16)
Motor reduction ratio (In this case: 120:1)
E.g. When the motor encoder pole number is 16, the encoder increments will be 16 * 2 = 32 in one circle. If you get 200 pulse change in
a sampling period, it means the real speed of motor is 200÷0.1(s)÷32 = 62.5 r/s = 62.5*60 r/min =3750 r/min; and its output speed is
3750/120=31.25r/min
Most of function has been encapsulated in the library, you can modify the output content in "Motor.cpp", line 241.
Requirements
Hardware
Romeo BLE Quad x1
TT Geared motor with Encoder
M-M/F-M/F-F Jumper wires
Software
Arduino IDE 1.5.5 Bluno M3 version Download on Bluno M3 wiki page
Connection Diagram
Sample Code
Click to download arduino library: Motor.h arduino library and PID_V1.h Arduino library. How to install Libraries in Arduino IDE
/*!
* @file RemeoBLEQuadDrive.ino
* @brief RemeoBLEQuadDrive.ino PID control system of DC motor
*
* RemeoBLEQuadDrive.ino Use PID control 4 way DC motor direction and speed
*
* @author linfeng(490289303@qq.com)
* @version V1.0
* @date 2016-4-14
*/
#include "PID_v1.h"
#include "Motor.h"
Motor motor[4];
int motorSpeed[4] = {-200,200,400,-400};/*Set 4 speed motor*/
/* Speed=motorSpeed/(32*(setSampleTime/1000))(r/s) */
const int motorDirPin[4][2] = { //Forward, Backward
/*Motor-driven IO ports*/
{8,23},
{7,9},
{24,14},
{4,25}
};
//const double motorPidParam[3]={0.6,1,0.03};/*DC MOTOR,Yellow?degree*/
//const double motorPidParam[3]={1.5,1,0.05};/*DC MOTOR,Yellow? degree*/
const double motorPidParam[3]={1.2,0.8,0.05};/*Encoder V1.0,160rd/min ;19500/min; 32:1,Kr=3.5*/
void setup( void )
{
Serial1.begin(115200);
for(int i=0;i<4;i++){
motor[i].setPid(motorPidParam[0],motorPidParam[1],motorPidParam[2]);/*Tuning PID parameters*/
motor[i].setPin(motorDirPin[i][0],motorDirPin[i][1]);/*Configure IO ports*/
motor[i].setSampleTime(100);/*Sets the sampling period*/
motor[i].setChannel(i);/*Sets the motor channel */
motor[i].ready();/*Motor enable*/
motor[i].setSpeed(motorSpeed[i]);/*Set motor speed*/
}
}
void loop( void )
{
for(int i = 0; i < 4; i++){
motor[i].calibrate();/*motor PID calibrate*/
}
}
/******************************************************************************
Copyright (C) <2016>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see
.
Contact: 490289303@qq.com
******************************************************************************/
Expected Results
Motor speed runs with expected speed.
FAQ
For any questions, advice or cool ideas to share, please visit the DFRobot Forum.
More
Schematic
Motor.h arduino library
PID_V1.h Arduino library.
Bluno M3 wiki page
HR8833 motor driver
Shopping from DFRobot Store or DFRobot Distributor.
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This page was last modified on 12 December 2016, at 16:21.
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