DC motor rotate speed is directly proportional to supply voltage and current. But it is very difficult to use software to control supply voltage and current . So use on/off time to control the DC motor is a better solution.
In my project I use TI DRV8837 to driver. DRV8837 has H-bridge structure to control motor forward/reverse rotate. So just simply add pwm input to DRV8837 then we can control the DC motor rotate speed.
1.Connect three gpio to DRV8837 nSleep , IN1 , IN2 .
2.Config PWM module and connect to IN1,IN2.
3.Now we can control DC motor rotate speed from 0 to 100% and rotate forward/reverse.
NOTICE!: It very danger when motor change rotate direction because it will shortly to turn both side H-bridge ON.It will need a short dead zone to prevent this situation.Luckily DRV8837 has build- in protection function when both IN1 IN2 are high the output will be low to stop the motor.
Ref:
1. DRV883x datasheet
2. H-bridge
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