User Guide

Motor Controller W/A/S/D Computer Control Code
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ThecodebelowallowsserialcommandstobesenttotheDFRobotShopRoverbyeitherawired
(USB)orwireless(Bluetooth,XBee)connection.Ifyouareplanningtocreateyourowncode,you
canusethistogetabasicunderstandingastohowtorunthemotors.Thekeyboardcommands
are:
● "w":driveforward
● "a":rotateclockwise(i.e.left)
● "s":rotatecounterclockwise(i.e.right)
● "d":drivebackward
Theroverwillexecutethecommandsenttoituntilitistoldtostopbypressinganyotherkeyon
thekeyboard.CommandscanbesentviatheArduinoserialterminal,thoughyoumustpressthe
“enter”keyforthecommandtobesent.InterfacessuchasHyperterminalforWindowscanalso
beused.
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EnsureyouselectthecorrectCOMportand9600baudrate.TheBaudratefortheBluetooth
modulecanbe9600or115,200dependingonthemodule–checkthemanualtobecertain.
Notethatitislikelythetwomotorsarenotidenticalandyouwillneedtoadjustthespeedslightly
sotherobotgoesroughlystraight.Notethatencodershelptherobotmoveinastraightline.
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/*Tocontroltherover,copyandpastethecodebelowintotheArduinosoftware*/
intE1=6;//M1SpeedControl
intE2=5;//M2SpeedControl
intM1=8;//M1DirectionControl
intM2=7;//M2DirectionControl
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voidsetup(void)
{
inti;
for(i=5;i<=8;i++)
pinMode(i,OUTPUT);
Serial.begin(9600);//Thereforeifyousendserialcommands,theyshouldbeat9600baud,Xon/Xoff
}
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voidloop(void)
{
while(Serial.available()<1){}//Waituntilacharacterisreceived
charval=Serial.read();
intleftspeed=255;//255ismaximumspeed
intrightspeed=255;
switch(val)//Performanactiondependingonthecommand
{
case'w'://MoveForward
forward(leftspeed,rightspeed);
RobotShopInc.www.RobotShop.com
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