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- #define ENA 3 //must be PWM (~)
- #define IN1 4
- #define IN2 5
- #define IN3 6
- #define IN4 7
- #define ENB 9 //must be PWM (~)
- void setup() {
- Serial.begin(9600);
- pinMode(ENA, OUTPUT);
- pinMode(IN1, OUTPUT);
- pinMode(IN2, OUTPUT);
- pinMode(IN3, OUTPUT);
- pinMode(IN4, OUTPUT);
- pinMode(ENB, OUTPUT);
- analogWrite(ENA, 80); //0-255
- analogWrite(ENB, 80); //0-255
- stopp();
- }
- void loop() {
- front();
- delay(1000);
- back();
- delay(1000);
- left();
- delay(1000);
- right();
- delay(1000);
- stopp();
- delay(1000);
- }
- void front() {
- digitalWrite(IN1, 1);
- digitalWrite(IN2, 0);
- digitalWrite(IN3, 1);
- digitalWrite(IN4, 0);
- }
- void back() {
- digitalWrite(IN1, 0);
- digitalWrite(IN2, 1);
- digitalWrite(IN3, 0);
- digitalWrite(IN4, 1);
- }
- void left() {
- digitalWrite(IN1, 1);
- digitalWrite(IN2, 0);
- digitalWrite(IN3, 0);
- digitalWrite(IN4, 1);
- }
- void right() {
- digitalWrite(IN1, 0);
- digitalWrite(IN2, 1);
- digitalWrite(IN3, 1);
- digitalWrite(IN4, 0);
- }
- void stopp() {
- digitalWrite(IN1, 0);
- digitalWrite(IN2, 0);
- digitalWrite(IN3, 0);
- digitalWrite(IN4, 0);
- }
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