Good day,
I am working on the sketch below and adjusted some lines to fit my needs but I noticed that the LEFT turn behaves differently then the RIGHT turn.
I have yet figured out the reason and looking for assistance.
the below is the sketch, I am looking to see why when moving joystick right the motor start at highspeed? The left turn is smooth depending on the joystick value.
How can I have the same behavior for both LEFT/RIGHT scenario?
Thank You
// Motor A
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B
int enB = 3;
int in3 = 5;
int in4 = 4;
// Joystick Input
int joyVert = A0; // Vertical
int joyHorz = A1; // Horizontal
// Motor Speed Values - Start at zero
int MotorSpeed1 = 0;
int MotorSpeed2 = 0;
// Joystick Values - Start at 512 (middle position)
int joyposVert = 512;
int joyposHorz = 512;
void setup()
{
Serial.begin(9600);
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
// Start with motors disabled and direction forward
// Motor A
digitalWrite(enA, LOW);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
// Motor B
digitalWrite(enB, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
}
void loop() {
// Read the Joystick X and Y positions
joyposVert = analogRead(joyVert);
joyposHorz = analogRead(joyHorz);
if (joyposHorz < 460)
{
// This is Left
// Set Motor A backward
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
// Set Motor B forward
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
//Determine Motor Speeds
joyposHorz = joyposHorz - 460; // This produces a negative number
joyposHorz = joyposHorz * -1; // Make the number positive
MotorSpeed1 = map(joyposHorz, 0, 460, 0, 255);
MotorSpeed2 = map(joyposHorz, 0, 460, 0, 255);
}
else if (joyposHorz > 564)
{
//this is right
// Set Motor A forward
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
// Set Motor B backward
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
/////////////
//Determine Motor Speeds
joyposHorz = joyposHorz + 564; // This produces a negative number
joyposHorz = joyposHorz * 1; // Make the number positive
MotorSpeed1 = map(joyposHorz, 0, 564, 0, 255);
MotorSpeed2 = map(joyposHorz, 0, 564, 0, 255);
///////////
// Map the number to a value of 255 maximum
joyposHorz = map(joyposHorz, 564, 1023, 0, 255);
MotorSpeed1 = MotorSpeed1 + joyposHorz;
MotorSpeed2 = MotorSpeed2 - joyposHorz;
// Don't exceed range of 0-255 for motor speeds
if (MotorSpeed1 > 255)MotorSpeed1 = 255;
if (MotorSpeed2 < 0)MotorSpeed2 = 0;
}
else if (joyposVert > 564)
{
// This is Forward
// Set Motor A forward
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
// Set Motor B forward
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
//Determine Motor Speeds
MotorSpeed1 = map(joyposVert, 564, 1023, 0, 255);
MotorSpeed2 = map(joyposVert, 564, 1023, 0, 255);
}
else if (joyposVert < 460)
{
// This is Backward
// Set Motor A backward
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
// Set Motor B backward
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
//Determine Motor Speeds
// As we are going backwards we need to reverse readings
joyposVert = joyposVert - 460; // This produces a negative number
joyposVert = joyposVert * -1; // Make the number positive
MotorSpeed1 = map(joyposVert, 0, 460, 0, 255);
MotorSpeed2 = map(joyposVert, 0, 460, 0, 255);
}
else
{
// This is Stopped
MotorSpeed1 = 0;
MotorSpeed2 = 0;
}
// Adjust to prevent "buzzing" at very low speed
if (MotorSpeed1 < 8)MotorSpeed1 = 0;
if (MotorSpeed2 < 8)MotorSpeed2 = 0;
// Set the motor speeds
analogWrite(enA, MotorSpeed1);
analogWrite(enB, MotorSpeed2);
}
