Hello,
Would appreciate if someone can help me understand why is my code only working with a duty cycle of 255 on analogWrite. And for any other value the motor is not moving at all.
If I use basic code I have no problem in making the motor run forward and reverse at any duty cycle under 255.
The idea is to move the motor from zerodegree (original state) until it reaches Ninety Degrees. This works but the motor is too fast and I need to slow it down. To my understanding ( I am a newbie ) lowering the duty cycle on the analogwrite should slow down the motor but instead nothing happens.
Thank you in advance.
#include <IRremote.h>
int OBSTACLE_DISTANCE = 0; //replace with acceptable distance
const int SPEED = 255; //find optimal speed for motor
int MAX_TIME = 8000; //seconds after which the motor will stop.
const long ZeroDegree = 0x11111111; //replace with HEX value
const long NinetyDegree = 0x2222222; //replace with HEX value
const long StopCmd = 0x33333333; //replace with HEX value
const int IRPin = 2;
const int NinetyPin = 5;
const int ZeroPin = 4;
int swZeroDegree = 0;
int swNinetyDegree = 0;
int pwm_a = 3; //PWM control for motor output on digital pin 12
int dir_a = 12; //direction control for motor output on digital pin 12
#define START 1
#define STOP 0
IRrecv irrecv(IRPin);
decode_results results;
void setup()
{
Serial.begin(9600);
pinMode(IRPin, INPUT);
pinMode(NinetyPin, INPUT);
pinMode(ZeroPin, INPUT);
Serial.println("At your service sir!");
irrecv.enableIRIn(); // Start the receiver
pinMode(pwm_a, OUTPUT); //Set control pins to be outputs
pinMode(dir_a, OUTPUT);
analogWrite(pwm_a, 100); //set motor to run at (100/255 = 39)% duty cycle (slow)
}
void loop() {
//State switches
swZeroDegree = digitalRead(ZeroPin);
swNinetyDegree = digitalRead(NinetyPin);
if (OBSTACLE_DISTANCE == 0) {
if (irrecv.decode(&results) == true)
if (results.value == ZeroDegree)
if (swZeroDegree == false && swNinetyDegree == true) {
motor(0, 0, START);
} else if (swZeroDegree == true && swNinetyDegree == false) {
motor(0, 0, STOP);
} else {
//motor(0, 0, START);
}
} else if (results.value == NinetyDegree) {
if (swZeroDegree == true && swNinetyDegree == false) {
motor(0, 1, START);
} else if (swZeroDegree == false && swNinetyDegree == true) {
motor(0, 1, STOP);
} else {
//motor(0, 1, START);
}
} else if (results.value == StopCmd){
motor(0, 0, STOP);
}
irrecv.resume();
Serial.println(results.value);
detect_switch_command();
}
}
}
void detect_switch_command() {
unsigned long Timer = 0;
delay(1000);
Timer = millis();
Serial.println(Timer);
while(millis() - Timer <= MAX_TIME){
swZeroDegree = digitalRead(ZeroPin);
swNinetyDegree = digitalRead(NinetyPin);
if (swNinetyDegree == true || swZeroDegree == true) {
Serial.println("sw Detect Stop");
Serial.print(swZeroDegree);
Serial.print("-");
Serial.println(swNinetyDegree);
//motor(0, 0, STOP);
astop();
}
}
Serial.println("Timer Stop");
motor(0, 0, STOP);
}
void motor(int id, int direction, int mode){
if (id== 0) {
if(mode == START) {
if (direction == 0){
forw(); //Set Motors to go forward Note : No pwm is defined with the for function, so that fade in and out works
fadein(); //fade in from 0-SPEED
forward();
Serial.print("going forward with speed: ");
Serial.println(SPEED);
} else {
back(); //Set Motors to go forward Note : No pwm is defined with the for function, so that fade in and out works
fadein(); //fade in from 0 - SPEED
backward();
Serial.println("going backwards with speed: ");
Serial.println(SPEED);
}
} else { //STOP MOTOR
//digitalWrite(dir_a, direction);
//digitalWrite(pwm_a, LOW);
Serial.println("motor fading out ");
fadeout(); //Fade out from SPEED to 0
}
}
}
void forw() // no pwm defined
{
digitalWrite(dir_a, HIGH); //Reverse motor direction, 1 high, 2 low
}
void back() // no pwm defined
{
digitalWrite(dir_a, LOW); //Set motor direction, 1 low, 2 high
}
void forward() //full speed forward
{
digitalWrite(dir_a, HIGH); //Reverse motor direction, 1 high, 2 low
analogWrite(pwm_a, SPEED); //set both motors to run at (100/255 = 39)% duty cycle
}
void backward() //full speed backward
{
digitalWrite(dir_a, LOW); //Set motor direction, 1 low, 2 high
analogWrite(pwm_a, SPEED); //set both motors to run at 100% duty cycle (fast)
}
void stopped() //stop
{
digitalWrite(dir_a, LOW); //Set motor direction, 1 low, 2 high
analogWrite(pwm_a, 0); //set both motors to run at 100% duty cycle (fast)
}
void fadein()
{
// fade in from min to max in increments of 5 points:
for(int fadeValue = 0 ; fadeValue <= SPEED; fadeValue +=5)
{
// sets the value (range from 0 to 255):
analogWrite(pwm_a, fadeValue);
// wait for 30 milliseconds to see the dimming effect
//delay(30);
}
}
void fadeout()
{
// fade out from max to min in increments of 5 points:
for(int fadeValue = SPEED ; fadeValue >= 0; fadeValue -=5)
{
// sets the value (range from 0 to 255):
analogWrite(pwm_a, fadeValue);
// wait for 30 milliseconds to see the dimming effect
//delay(30);
}
}
void astop() //stop motor A
{
analogWrite(pwm_a, 0);
}