Using

Using the
the DFRduino
DFRduino RoMeo
RoMeo Microcontroller
Microcontroller
with
with the
the DFRobot
DFRobot Mobile
Mobile Platform
Platform
(using an Arduino microcontroller with a 4-wheel robot)

Dave Mawdsley,
DACS Member, Linux SIG
January 16, 2013

A Look Back: The Arduino Uno

The DFRduino RoMeo v1.1

The DFRduino RoMeo v1.1

Diagram

Comparison Notes: Arduino Uno &

DFRduino RoMeo v1.1
The Arduino Uno is the gold standard of the Arduino series. It has
functions expected of a microcontroller such as digital and analog
I/O and easy connections to circuit boards and other devices.
The DFRduino RoMeo v1.1 has the standard Arduino Uno features
plus connections for two motor controls along with a set of digital
and analog I/O pins for them. It also has 5 push button switches
and a section for Bluetooth controls.
The same IDE is used for both microcontrollers and when
connecting up with the DFRduino RoMeo, the Arduino Uno is the
board to choose in the setup. Power constraints are similar.
The C language code used has extensions for motor controls and
the like. Uploading code and running it uses the same procedures.

The DFRobot Pirate Mobile Platform

The Wheel and Frame Assembly

Wiring Between the Wheels & DFRduino

9 VDC Battery Details

Top Panel - Mounted DFRduino RoMeo

Bottom Panel Motor Battery Container

10

Mostly Completed Hardware

11

The Completed Robot with Batteries

12

A Side View of the Completed Robot

13

Robot Direction Controls (lines 1-35)

14

Robot Direction Controls (lines 36-62)

15

Robot Direction Controls (lines 62-85)

16

Forward, Backward, Left, Right & Stop

17

Wheels on the left side rotate the same way. Similarly with the right
side of the robot. That is, on one side the wheels rotate forward or
backward together.
Rotation of the wheels on the left or right sides are independent, which
makes for left and right turns with slippage. Wheels rotate faster on the
right side to make a left turn. Turning right uses the opposite pattern.
The program shown doesn't make for variable speeds, but the speeds
can be adjusted based on the numbers 0 through 255 with the greater
speed with the greater number. In the reverse direction the motor
controls must reverse HIGH and LOW for both sets of wheels.

Important Power Issues

The robot vehicle has two power sources: 7.5 VDC for the motors
and 9 VDC for the DFRduino Romeo controller which requires 5
VDC to operate but which is insufficient to work motors as well. A
USB cable supplies only 5 VDC to allow loading the object code.
The 7.5 VDC consists of five 1.5 VDC AA batteries in series. This
source must be plugged in and active before the DFRduino
Romeo controller is powered on since the controller itself cannot
power the 4 motors. I installed two power switches to allow for this
sequence.
The DFRduino Romeo controller should be the last to power on
and the first to power off. It uses the 9 VDC to power the controller
independent of cables and perhaps some other breadboard wiring.
The Power In Selection Jumper near the motor connections of
the DFRduino controller must be removed to allow for external
power to be supplied to the wheels. Otherwise with the jumper,
the DFRduino will try to power them.

18

Using
Using the
the DFRduino
DFRduino RoMeo
RoMeo Microcontroller
Microcontroller
with
with the
the DFRobot
DFRobot Mobile
Mobile Platform
Platform
(using an Arduino microcontroller with a 4-wheel robot)

This LibreOffice.org Presentation

'dfrduino.odp' can be downloaded from
http://madmod.com/freebies.html