Stensat StenBOT Rover Kit, Manual

Page: 146 / 180

146 146
Speed Control
●
It may be noticed that the robot may tend
to drift to the left or right. This is due to the
motors not being equally powerful.
●
There is a way to attempt to equalize them
by controlling their speed.
●
A simple way to control the speed is to
pulse power to the motors. This technique
is called pulse width modulation.
●
On the arduino, the
analogWrite()
function performs this. It generates a
repeating pulse at about 250 Hz.
●
The size of each pulse is the duty cycle.
The higher the duty cycle the more power
the motor gets.
●
Adjusting the duty cycle will adjust the
motor speed.