DFR0398

DFR0398 Datasheet

Romeo BLE Quad Robot Controller SKU DFR0398

Part	Datasheet
DFR0398	DFR0398 (pdf)

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Romeo BLE Quad Robot Controller SKU DFR0398 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! • 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 • 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 Serial to ‘’‘Serial1’‘’ in the sketch if you want to use serial monitor. Board Overview Board Overview Motor GPIO 1 M1 8 M2 7 M3 24 M4 4 GPIO 2 23 9 14 25 Encoder A 12 2 5 35 Encoder B 11 3 26 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 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 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 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 = r/s = 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 Requirements • Hardware Romeo BLE Quad x1 TT Geared motor with Encoder M-M/F-M/F-F Jumper wires • Software Arduino IDE 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 /! RemeoBLEQuadDrive.ino * RemeoBLEQuadDrive.ino PID control system of DC motor * * RemeoBLEQuadDrive.ino Use PID control 4 way DC motor direction an d speed * * * V1.0 * 2016-4-14 / #include "PID_v1.h" #include "Motor.h" Motor[4] int motorSpeed[4] = 4 speed motor/ /* / const int motorDirPin[4][2] = //Forward, Backward /Motor-driven IO ports/ //const double MOTOR,Yellow??180d egree/ //const double MOTOR,Yellow??90 d egree/ const double V1.0,160rd/mi n ;19500/min 32:1,Kr=3.5/ void setup void Serial1.begin 115200 for int

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Romeo BLE Quad Robot Controller SKU DFR0398

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!
• 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
• 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 Serial to ‘’‘Serial1’‘’ in the sketch if you want to use serial monitor.

Board Overview

Board Overview

Motor GPIO 1 M1 8 M2 7 M3 24 M4 4

GPIO 2 23 9 14 25

Encoder A 12 2 5 35

Encoder B 11 3 26 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

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 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 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 = r/s = 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

Requirements
• Hardware Romeo BLE Quad x1 TT Geared motor with Encoder M-M/F-M/F-F Jumper wires
• Software Arduino IDE 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
/*! * RemeoBLEQuadDrive.ino * RemeoBLEQuadDrive.ino PID control system of DC motor * * RemeoBLEQuadDrive.ino Use PID control 4 way DC motor direction an d speed * * * V1.0 * 2016-4-14 */
#include "PID_v1.h" #include "Motor.h"

Motor[4] int motorSpeed[4] = 4 speed motor*/ /* */ const int motorDirPin[4][2] = //Forward, Backward /*Motor-driven IO ports*/
//const double MOTOR,Yellow??180d egree*/
//const double MOTOR,Yellow??90 d egree*/ const double V1.0,160rd/mi n ;19500/min 32:1,Kr=3.5*/ void setup void

Serial1.begin 115200 for int

Notice: we do not provide any warranties that information, datasheets, application notes, circuit diagrams, or software stored on this website are up-to-date or error free. The archived DFR0398 Datasheet file may be downloaded here without warranties.

Datasheet ID: DFR0398 508752