Blynk, NodeMCU and 12V H Bridge - controlling problem

[peky27]

Hi guys, I am having a really hard time trying to control 2 DC motors using Blynk app, NodeMCU and 12V H Bridge.

First, here are hardware parts of my project:

1. NodeMCU link
2. H Bridge link
3. Blynk app screenshot
   

And here is my code:

// Mower
#define BLYNK_PRINT Serial
#include <ESP8266WiFi.h>
#include <BlynkSimpleEsp8266.h>

#define motor1IN1       D2   //4 
#define motor1IN2       D5   //14 
#define motor2IN1       D6   //12 
#define motor2IN2       D8   //15
#define EN1             D0   //16
#define EN2             D1   //5

char auth[] = "auth";  //Blynk Authentication Token
char ssid[] = "name";           //WIFI Name
char pass[] = "password";           //WIFI Password

char command[8];
int pinValue;
int power;

void moveControl(char command[], int value, int power=0)
{
  if(value != 0) {
    if(strcmp(command, "forward") == 0) {
      digitalWrite(EN1, HIGH);
      digitalWrite(EN2, HIGH);
      digitalWrite(motor1IN1, HIGH);
      analogWrite(motor1IN2, power);
      digitalWrite(motor2IN1, HIGH);
      analogWrite(motor2IN2, power);
    }
    else if(strcmp(command, "back") == 0) {
      digitalWrite(EN1, HIGH);
      digitalWrite(EN2, HIGH);
      analogWrite(motor1IN1, power);
      digitalWrite(motor1IN2, LOW);
      analogWrite(motor2IN1, power);
      digitalWrite(motor2IN2, LOW);
    }
    else {
      digitalWrite(EN1, LOW);
      digitalWrite(EN2, LOW);
      digitalWrite(motor1IN1, LOW);
      digitalWrite(motor1IN2, LOW);
      digitalWrite(motor2IN1, LOW);
      digitalWrite(motor2IN2, LOW);
    }
  }
  else {
    digitalWrite(EN1, LOW);
    digitalWrite(EN2, LOW);
    digitalWrite(motor1IN1, LOW);
    digitalWrite(motor1IN2, LOW);
    digitalWrite(motor2IN1, LOW);
    digitalWrite(motor2IN2, LOW);
  }
}

void setup()
{
    Serial.begin(9600);
    Blynk.begin(auth, ssid, pass);
    analogWriteFreq(16000);
    pinMode(EN1, OUTPUT);
    pinMode(EN2, OUTPUT);
    pinMode(motor1IN1, OUTPUT);
    pinMode(motor1IN2, OUTPUT);
    pinMode(motor2IN1, OUTPUT);
    pinMode(motor2IN2, OUTPUT); 
}

void loop()
{
    Blynk.run();
}

BLYNK_WRITE(V2)
{
  int pinValue = param.asInt();
  char command[] = "forward";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V3)
{
  int pinValue = param.asInt();
  char command[] = "back";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V4)
{
  int pinValue = param.asInt();
  char command[] = "left";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V5)
{
  int pinValue = param.asInt();
  char command[] = "right";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V6)
{
  power = param.asInt();
//  moveControl(command, pinValue, power);
}

So the problem is that H Bridge behave very strange:
By using code above, it turns DC motors CCW whether I push forward or backward.
Also, it seems that PWM signal is “upside down” for forward, because lower values giving higher speed, and for backward it is normal.

I am 100% sure that the problem is in my code, and this H Bridge that doesn’t have clear datasheet on the internet.
Any code review and advice is very appreciated!

Thanks in advance!

[peky27]

Solved by myself:

Here is a fully functional code:

// Mower
#define BLYNK_PRINT Serial
#include <ESP8266WiFi.h>
#include <BlynkSimpleEsp8266.h>

#define motor1IN1       D2   //4 
#define motor1IN2       D5   //14 
#define motor2IN1       D6   //12 
#define motor2IN2       D8   //15
#define EN1             D0   //16
#define EN2             D1   //5

char auth[] = "auth";  //Blynk Authentication Token
char ssid[] = "name";           //WIFI Name
char pass[] = "pass";           //WIFI Password

char command[8];
int pinValue;
int power;

void moveControl(char command[], int value, int power=0)
{
  if(value != 0) {
    if(strcmp(command, "forward") == 0) {
      digitalWrite(EN1, HIGH);
      digitalWrite(EN2, HIGH);
      digitalWrite(motor1IN1, LOW);
      analogWrite(motor1IN2, power);
      digitalWrite(motor2IN1, LOW);
      analogWrite(motor2IN2, power);
    }
    else if(strcmp(command, "back") == 0) {
      digitalWrite(EN1, HIGH);
      digitalWrite(EN2, HIGH);
      analogWrite(motor1IN1, power);
      digitalWrite(motor1IN2, LOW);
      analogWrite(motor2IN1, power);
      digitalWrite(motor2IN2, LOW);
    }
    else if(strcmp(command, "left") == 0) {
      digitalWrite(EN1, HIGH);
      digitalWrite(EN2, HIGH);
      digitalWrite(motor1IN1, LOW);
      analogWrite(motor1IN2, power);
      analogWrite(motor2IN1, power);
      digitalWrite(motor2IN2, LOW);
    }
    else if(strcmp(command, "right") == 0) {
      digitalWrite(EN1, HIGH);
      digitalWrite(EN2, HIGH);
      analogWrite(motor1IN1, power);
      digitalWrite(motor1IN2, LOW);
      digitalWrite(motor2IN1, LOW);
      analogWrite(motor2IN2, power);
    }
    else {
      digitalWrite(EN1, LOW);
      digitalWrite(EN2, LOW);
    }
  }
  else {
    digitalWrite(EN1, LOW);
    digitalWrite(EN2, LOW);
  }
}

void setup()
{
    Serial.begin(9600);
    Blynk.begin(auth, ssid, pass);
    analogWriteFreq(16000);
    pinMode(EN1, OUTPUT);
    pinMode(EN2, OUTPUT);
    pinMode(motor1IN1, OUTPUT);
    pinMode(motor1IN2, OUTPUT);
    pinMode(motor2IN1, OUTPUT);
    pinMode(motor2IN2, OUTPUT); 
}

void loop()
{
    Blynk.run();
}

BLYNK_WRITE(V2)
{
  int pinValue = param.asInt();
  char command[] = "forward";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V3)
{
  int pinValue = param.asInt();
  char command[] = "back";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V4)
{
  int pinValue = param.asInt();
  char command[] = "left";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V5)
{
  int pinValue = param.asInt();
  char command[] = "right";
  moveControl(command, pinValue, power);
}
BLYNK_WRITE(V6)
{
  power = param.asInt();
}