First Arduino project and am attempting to build a self balancing robot as a science project. Project has stalled and I don't know where to begin troubleshooting.
My bot is based on the Arduino UNO, Keyestudio Balance Car Shield (combines mpu6050 and L298P), 6V (4xAA) power supply, 6V DC motors with encoders.
Due to limited documents on keystudio, I am left guessing which wires connect to which on the motor encoder and where to begin programming. I figured I could cut and paste from various instructables but none have worked.
My next step was to test individual components on the shield. I am able to initialize and get output information from the mpu6050. The L298P is a different matter entirely. I have tried to spin the motors in both directions and varios speeds with no success. I assume that my wires are not connected correctly but am lost as to figure out how to fix them.
Any help is greatly appreciated.
My code for testing motor operation:
L298N Motor Demonstration
L298N-Motor-Demo.ino
Demonstrates functions of L298N Motor Controller
DroneBot Workshop 2017
http://dronebotworkshop.com
*/
// Motor A
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B
int enB = 3;
int in3 = 5;
int in4 = 4;
void setup()
{
// 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);
}
void demoOne()
{
// This function will run the motors in both directions at a fixed speed
// Turn on motor A
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
// Set speed to 200 out of possible range 0~255
analogWrite(enA, 200);
// Turn on motor B
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
// Set speed to 200 out of possible range 0~255
analogWrite(enB, 200);
delay(2000);
// Now change motor directions
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(2000);
// Now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void demoTwo()
{
// This function will run the motors across the range of possible speeds
// Note that maximum speed is determined by the motor itself and the operating voltage
// Turn on motors
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
// Accelerate from zero to maximum speed
for (int i = 0; i < 256; i++)
{
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Decelerate from maximum speed to zero
for (int i = 255; i >= 0; --i)
{
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void loop()
{
demoOne();
delay(1000);
demoTwo();
delay(1000);
}
