NEX ROBOTICS FIREBIRD V ATMEGA 2560, Руководство по оборудованию

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Fire Bird V ATMEGA2560 Hardware Manual
7.5.2 Commands to set direction of the robot:
Command
( HEX ) DIRECTION
LEFT
BWD
(LB)
PA0
LEFT
FWD(LF)
PA1
RIGHT
FWD(RF)
PA2
RIGHT
BWD(RB)
PA3
51 FORWARD 0 1 1 0
52 REVERSE 1 0 0 1
53
RIGHT (Left wheel
forward, Right
wheel backward)
0 1 0 1
54
LEFT (Left wheel
backward, Right
wheel forward,)
1 0 1 0
55
SOFT RIGHT (Left
wheel forward,,
Right wheel stop)
0 1 0 0
56
SOFT LEFT (Left
wheel stop, Right
wheel forward,)
0 0 1 0
57
SOFT RIGHT 2
(Left wheel stop,
Right wheel
backward)
0 0 0 1
58
SOFT LEFT 2 (Left
wheel backward,
Right wheel stop)
1 0 0 0
59 HARD STOP 0 0 0 0
Table 7.2
Example: To set left motor velocity to 0x84, right motor velocity to 0x65, and move
backward.
Step1: 0x14 Load the lower nibble ‘4’ of the left motor speed into the robot
Step2: Delay of at least 3 milliseconds
Step3: 0x28 Load the upper nibble ‘8’ of the left motor speed into the robot and execute the
command
Step4: Delay of at least 3 milliseconds
Step5: 0x35 Load the lower nibble ‘5’ of the right motor speed into the robot
Step6: Delay of at least 3 milliseconds
Step7: 0x46 Load the upper nibble ‘6’ of the right motor speed into the robot and execute the
command
Step8: Delay of at least 3 milliseconds
Step9: 0x52 move backward
Step10: Delay of at least 3 milliseconds before loading next command
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA 117