Arduino serial motor driver

Arduino based serial motor controller. Accepts commands from serial port and drive two motors . Rover must be built in differential drive config (eg Tank type).

Features

Hardware Connections

• Arduino Pin 2 connected to RX via 330 ohm resister to enable wakeup on receive
• Left motor on Arduino pin 4 and 5
• Right motor on Arduino pin 6 and 7

API

Command Format

• Command format "#>CMD Speed Timeout<"
• "#" has to be added before start of each command to wake up arduino from sleep
• ">" marks start of command and "<" marks end of command
• Range for speed is 0 to 255
• Range for timeout is 1 to 10000 milli seconds (0 is treated as no timeout, keep motors running)
• Return value "OK" indicates that command is received and will be executed immediately
• Return value "ERROR number" indicates error number

COMMANDS

• => ">FW speed timeout<" # Move forward
• => ">BW speed timeout<" # Move backward
• => ">RT speed timeout<" # Turn right with given speed
• => ">LT speed timeout<" # Turn left with given speed
• => ">STOP 0 0<" # Stop moving

ERROR Numbers

• 1 => "Invalid Command"
• 2 => "End of command not received within 100 ms"
• 3 => "Invalid Speed value"
• 4 => "Invalid Timeout value"