2 motors controlled by one joystick

Projects Discussion and Showcase Robotics
37

so this is the working combined code?

HazardsMind:

/*

Simple motor control with square limit joystick

Y(1023)
    |---------|
    |---------|
X(0)|---512---|X(1023)
    |---------|
    |---------|
       Y(0)
       
Left Motor Forward/Reverse = LMF/LMR
Right Motor Forward/Reverse = RMF/RMR
*/

const byte LMF = 3;
const byte LMR = 5;
const byte RMF = 6;
const byte RMR = 9;

const byte Xpot = A0;
const byte Ypot = A1;

volatile unsigned int X = 512, Y = 512; // pot values default 512 for center
unsigned int Xspeed = 0, Yspeed = 0; //motor speed default 0 for full stop
const int Xdeadzone = 5, Ydeadzone = 5; //amount of slack needed for pot values

void setup(){
  pinMode(LMF, OUTPUT);
  pinMode(LMR, OUTPUT);
  pinMode(RMF, OUTPUT);
  pinMode(RMR, OUTPUT);
  Serial.begin(9600);
}

void loop()
{
  X = analogRead(Xpot);
  Y = analogRead(Ypot);

if (X >= (512 + Xdeadzone))//Forward
  {
    Xspeed = (X - 512) / 2; // 0 - 255
    if(Y > (512 + Ydeadzone)) //Left
    {
      Yspeed = (Y - 512) / 2;
      analogWrite(LMF, Xspeed - Yspeed); analogWrite(RMF, Xspeed);
      //digitalWrite(LMR, LOW); digitalWrite(RMR, LOW);
    }
    else if (Y < (512 - Ydeadzone)) //Right
    {
      Yspeed = (512 - Y) / 2;
      analogWrite(LMF, Xspeed); analogWrite(RMF, Xspeed - Yspeed);
      //digitalWrite(LMR, LOW); digitalWrite(RMR, LOW);
    }
    else
    {
      analogWrite(LMF, Xspeed); analogWrite(RMF, Xspeed);
      //digitalWrite(LMR, LOW); digitalWrite(RMR, LOW);
    }
  }

else if (X <= (512 - Xdeadzone))//Reverse
  {
    Xspeed = (512 - X) / 2;
    if(Y > (512 + Ydeadzone)) //Left
    {
      Yspeed = (Y - 512) / 2;
      //digitalWrite(LMF, LOW); digitalWrite(RMF, LOW);
      analogWrite(LMR, Xspeed - Yspeed); analogWrite(RMR, Xspeed);
    }
    else if (Y < (512 - Ydeadzone)) //Right
    {
      Yspeed = (512 - Y) / 2;
      //digitalWrite(LMF, LOW); digitalWrite(RMF, LOW);
      analogWrite(LMR, Xspeed); analogWrite(RMR, Xspeed - Yspeed);
    }
    else
    {
      //digitalWrite(LMF, LOW); digitalWrite(RMF, LOW);
      analogWrite(LMR, Xspeed); analogWrite(RMR, Xspeed);
    }
  }

else // X is between 512 +- deadzone
  {
    if(Y > (512 + Ydeadzone)) // zero point turn Left
    {
      digitalWrite(LMF, LOW); analogWrite(RMF, Yspeed);
      //digitalWrite(LMR, LOW); digitalWrite(RMR, LOW);
    }
    else if(Y < (512 - Ydeadzone))// zero point turn Right
    {
      analogWrite(LMF, Yspeed); digitalWrite(RMF, LOW);
      //digitalWrite(LMR, LOW); digitalWrite(RMR, LOW);
    }
    else
    { // Full stop
      digitalWrite(LMF,LOW);
      digitalWrite(RMF,LOW);
      digitalWrite(LMR,LOW);
      digitalWrite(RMR,LOW);
    }
  }
}