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3rdWard_Arduino

class4_hbridge_control

Apr 1st, 2012
297
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  1. /*
  2. This sketch will allow you to control an H-Bridge IC
  3.  Controling an H-Bridge allows you to make a motor switch directions
  4.  
  5.  In our case, a switch will allow us to switch directions
  6.  
  7.  Here are a few links about H-Bridges:
  8.  http://itp.nyu.edu/physcomp/Labs/DCMotorControl
  9.  http://en.wikipedia.org/wiki/H_bridge
  10.  */
  11.  
  12. int enablePin = 9;// turns the h bridge on/off
  13. int motorLogicAPin = 3;
  14. int motorLogicBPin = 4;
  15. int ledPin = 13;
  16. int directionPin = 7;
  17.  
  18. boolean spinForward = true;
  19. boolean hasSwitchBeenReleased = true;
  20.  
  21. void setup(){
  22.   Serial.begin(9600);
  23.  
  24.   // set pin modes:
  25.   //outs
  26.   pinMode( enablePin, OUTPUT);
  27.   pinMode( motorLogicAPin, OUTPUT);
  28.   pinMode( motorLogicBPin, OUTPUT);
  29.   pinMode( ledPin, OUTPUT);
  30.   //ins
  31.   pinMode( directionPin, INPUT);
  32.  
  33.   // set enable pin high
  34.   digitalWrite( enablePin, HIGH);
  35.   // set LED pin low
  36.   digitalWrite( ledPin, LOW);
  37. }
  38.  
  39. void loop(){
  40.   checkDirectionSwitch();
  41.  
  42.   driveMotor();
  43.  
  44. }
  45.  
  46. void checkDirectionSwitch(){
  47.   // read the directionPin, if it is pressed(HIGH)
  48.   if( digitalRead(directionPin) == HIGH ){
  49.     // then check to see if it has been freshly pressed
  50.     if( hasSwitchBeenReleased == true ){
  51.       // then make note that it has not been freshly pressed
  52.       hasSwitchBeenReleased = false;
  53.       Serial.println("switch has been pressed");
  54.       // and change the motor spinning direction to the opposite
  55.       // of the current spinning direction
  56.       if( spinForward == true ){
  57.         spinForward = false;
  58.       }
  59.       else{
  60.         spinForward = true;
  61.       }
  62.       // signal change in direction by turning on
  63.       // LED for a 10th of a second
  64.       digitalWrite( ledPin, HIGH);
  65.       delay(100);
  66.       digitalWrite( ledPin, LOW);
  67.     }
  68.   }
  69.   else{
  70.     // if the switch is released(LOW)
  71.     // make sure that it will read as being freshly pressed
  72.     // next time it is pressed
  73.     hasSwitchBeenReleased = true;
  74.     if(spinForward == true){
  75.       Serial.println("forward");
  76.     }else{
  77.       Serial.println("backward");
  78.     }
  79.   }
  80. }
  81.  
  82. void driveMotor(){
  83.   if( spinForward == true ){
  84.     // driving one logic pin high and the other low
  85.     // will make the motor spin a direction
  86.     digitalWrite( motorLogicAPin, HIGH);
  87.     digitalWrite( motorLogicBPin, LOW);
  88.   }
  89.   else {
  90.     // flip flop the polarity on the two logic pins to make
  91.     // the motor spin in the opposite direction
  92.     digitalWrite( motorLogicAPin, LOW);
  93.     digitalWrite( motorLogicBPin, HIGH);
  94.   }
  95. }
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