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| 1 | #define MAX_SPEED 250 | |
| 2 | //Left Motor connection | |
| 3 | int enL = 11; | |
| 4 | int in1 = 10; | |
| 5 | int in2 = 9; | |
| 6 | //Right Motor connection | |
| 7 | int enR = 6; | |
| 8 | int in3 = 5; | |
| 9 | int in4 = 3; | |
| 10 | ||
| 11 | int i; | |
| 12 | ||
| 13 | void setup() | |
| 14 | {
| |
| 15 | //Assign DDR | |
| 16 | pinMode(enL,OUTPUT); | |
| 17 | pinMode(in1,OUTPUT); | |
| 18 | pinMode(in2,OUTPUT); | |
| 19 | pinMode(enR,OUTPUT); | |
| 20 | pinMode(in3,OUTPUT); | |
| 21 | pinMode(in4,OUTPUT); | |
| 22 | //Set initial state as "off" | |
| 23 | digitalWrite(enL,LOW); | |
| 24 | digitalWrite(in1,LOW); | |
| 25 | digitalWrite(in2,LOW); | |
| 26 | digitalWrite(enR,LOW); | |
| 27 | digitalWrite(in3,LOW); | |
| 28 | digitalWrite(in4,LOW); | |
| 29 | } | |
| 30 | ||
| 31 | void loop() | |
| 32 | {
| |
| 33 | testMax(); | |
| 34 | testGradual(); | |
| 35 | } | |
| 36 | ||
| 37 | /** | |
| 38 | * Sets drive to forward movement | |
| 39 | */ | |
| 40 | void moveForward() | |
| 41 | {
| |
| 42 | setL(250); | |
| 43 | setR(250); | |
| 44 | } | |
| 45 | ||
| 46 | /** | |
| 47 | * Sets drive to forward movement with speed control | |
| 48 | */ | |
| 49 | void moveForward(int a) | |
| 50 | {
| |
| 51 | if(a > MAX_SPEED) {
| |
| 52 | setL(MAX_SPEED); | |
| 53 | setR(MAX_SPEED); | |
| 54 | } else if (a <= 0) {
| |
| 55 | stop(); | |
| 56 | } else {
| |
| 57 | setL(a); | |
| 58 | setR(a); | |
| 59 | } | |
| 60 | } | |
| 61 | ||
| 62 | /** | |
| 63 | * Sets drive to backward movement | |
| 64 | */ | |
| 65 | void moveBackward() | |
| 66 | {
| |
| 67 | setL(-250); | |
| 68 | setR(-250); | |
| 69 | } | |
| 70 | ||
| 71 | /** | |
| 72 | * Sets drive to backward movement with speed control | |
| 73 | */ | |
| 74 | void moveBackward(int a) | |
| 75 | {
| |
| 76 | if(a > MAX_SPEED) {
| |
| 77 | setL(MAX_SPEED * (-1)); | |
| 78 | setR(MAX_SPEED * (-1)); | |
| 79 | } else if (a <= 0) {
| |
| 80 | stop(); | |
| 81 | } else {
| |
| 82 | setL(a *(-1)); | |
| 83 | setR(a *(-1)); | |
| 84 | } | |
| 85 | } | |
| 86 | ||
| 87 | /** | |
| 88 | * Sets drive to move counterclockwise | |
| 89 | */ | |
| 90 | void moveLeft() | |
| 91 | {
| |
| 92 | setL(50); | |
| 93 | setR(250); | |
| 94 | } | |
| 95 | ||
| 96 | /** | |
| 97 | * Sets drive to move counterclockwise with speed control | |
| 98 | */ | |
| 99 | void moveLeft(int a) | |
| 100 | {
| |
| 101 | if(a > MAX_SPEED) {
| |
| 102 | setL(MAX_SPEED/2); | |
| 103 | setR(MAX_SPEED); | |
| 104 | } else if (a < MAX_SPEED * (-1)) {
| |
| 105 | setL(MAX_SPEED/-2); | |
| 106 | setR(MAX_SPEED * (-1)); | |
| 107 | } else {
| |
| 108 | setL(a/2); | |
| 109 | setR(map(abs(a),0,MAX_SPEED,MAX_SPEED/5,MAX_SPEED)*getSign(a)); | |
| 110 | } | |
| 111 | } | |
| 112 | ||
| 113 | /** | |
| 114 | * Sets drive to move clockwise | |
| 115 | */ | |
| 116 | void moveRight() | |
| 117 | {
| |
| 118 | setL(250); | |
| 119 | setR(50); | |
| 120 | } | |
| 121 | ||
| 122 | /** | |
| 123 | * Sets drive to move counterclockwise with speed control | |
| 124 | */ | |
| 125 | void moveRight(int a) | |
| 126 | {
| |
| 127 | if(a > MAX_SPEED) {
| |
| 128 | setR(MAX_SPEED/2); | |
| 129 | setL(MAX_SPEED); | |
| 130 | } else if (a < MAX_SPEED * (-1)) {
| |
| 131 | setR(MAX_SPEED/-2); | |
| 132 | setL(MAX_SPEED * (-1)); | |
| 133 | } else {
| |
| 134 | setR(a/2); | |
| 135 | setL(map(abs(a),0,MAX_SPEED,MAX_SPEED/5,MAX_SPEED)*getSign(a)); | |
| 136 | } | |
| 137 | } | |
| 138 | ||
| 139 | /** | |
| 140 | * Sets drive to stop fully | |
| 141 | */ | |
| 142 | void stop() | |
| 143 | {
| |
| 144 | setL(0); | |
| 145 | setR(0); | |
| 146 | } | |
| 147 | ||
| 148 | ||
| 149 | /** | |
| 150 | * Left Motor control | |
| 151 | */ | |
| 152 | void setL(int a) | |
| 153 | {
| |
| 154 | digitalWrite(in1,(a>0)?HIGH:LOW); | |
| 155 | digitalWrite(in2,(a<0)?HIGH:LOW); | |
| 156 | analogWrite(enL,abs(a)); | |
| 157 | } | |
| 158 | ||
| 159 | ||
| 160 | /** | |
| 161 | * Right Motor control | |
| 162 | */ | |
| 163 | void setR(int a) | |
| 164 | {
| |
| 165 | digitalWrite(in3,(a>0)?HIGH:LOW); | |
| 166 | digitalWrite(in4,(a<0)?HIGH:LOW); | |
| 167 | analogWrite(enR,abs(a)); | |
| 168 | } | |
| 169 | ||
| 170 | ||
| 171 | /** | |
| 172 | * Test sequence of parameter-free actions | |
| 173 | */ | |
| 174 | void testMax() | |
| 175 | {
| |
| 176 | //Move Forwards | |
| 177 | moveForward(); | |
| 178 | delay(4000); | |
| 179 | stop(); | |
| 180 | delay(4000); | |
| 181 | //Move Backwards | |
| 182 | moveBackward(); | |
| 183 | delay(4000); | |
| 184 | stop(); | |
| 185 | delay(4000); | |
| 186 | //Turn Left | |
| 187 | moveLeft(); | |
| 188 | delay(4000); | |
| 189 | stop(); | |
| 190 | delay(4000); | |
| 191 | //Turn Right | |
| 192 | moveRight(); | |
| 193 | delay(4000); | |
| 194 | stop(); | |
| 195 | delay(4000); | |
| 196 | } | |
| 197 | ||
| 198 | /** | |
| 199 | * Test sequence of parametered actions | |
| 200 | */ | |
| 201 | void testGradual() | |
| 202 | {
| |
| 203 | //Accelarate Forwards | |
| 204 | for(i=0;i<=MAX_SPEED;i++) {
| |
| 205 | moveForward(i); | |
| 206 | delay(10); | |
| 207 | } | |
| 208 | delay(4000); | |
| 209 | stop(); | |
| 210 | delay(4000); | |
| 211 | //Accelerate Backwards | |
| 212 | for(i=0;i<=MAX_SPEED;i++) {
| |
| 213 | moveBackward(i); | |
| 214 | delay(10); | |
| 215 | } | |
| 216 | delay(4000); | |
| 217 | stop(); | |
| 218 | delay(4000); | |
| 219 | //Turn Backwards-Left, then Forwards-Left | |
| 220 | for(i=0-MAX_SPEED;i<=MAX_SPEED;i++) {
| |
| 221 | moveLeft(i); | |
| 222 | delay(10); | |
| 223 | } | |
| 224 | delay(4000); | |
| 225 | stop(); | |
| 226 | delay(4000); | |
| 227 | //Turn Backwards-Right, then Forwards-Right | |
| 228 | for(i=0-MAX_SPEED;i<=MAX_SPEED;i++) {
| |
| 229 | moveRight(i); | |
| 230 | delay(10); | |
| 231 | } | |
| 232 | delay(4000); | |
| 233 | stop(); | |
| 234 | delay(4000); | |
| 235 | } | |
| 236 | ||
| 237 | /** | |
| 238 | * Return sign of number | |
| 239 | */ | |
| 240 | int getSign(int a){
| |
| 241 | return a/abs(a); | |
| 242 | } |
