Building my first robot and I put together a test code to see if my components are working together and I'm not sure what is wrong with it.
Arduino Uno - powered with 9v battery
L298N Motor Driver board - powered with 5v 700mA wall adapter.
TowerPro SG90 servo motor
Tamiya dual gearbox motors (type 130 brushed dc motors)
I didn't notice any wires hooked up incorrectly, so I am wondering if the problem is in my code. The code is supposed to spin the motors, then rotate a servo, then spin the motors again, then blink the onboard LED.
What actually happens: only one motor spins, the servo moves but is jerky instead of smooth and the onboard LED seems to blink during the test instead of once its completed.
Any ideas what is tripping me up?
#include <Servo.h>
Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0; // variable to store the servo position
// connect motor controller pins to Arduino digital pins
// motor one
int enA = 10;
int in1 = 9;
int in2 = 8;
// motor two
int enB = 5;
int in3 = 7;
int in4 = 6;
// the setup function runs once when you press reset or power the board
void setup()
{
myservo.attach(11); // attaches the servo on pin 11 to the servo object
// 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);
// initialize digital pin 13 as an output.
pinMode(13, 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
// the PWM values sent by analogWrite() are fractions of the maximum speed possible
// by your hardware
// 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 ServoTest()
{
for(pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(20); // waits 15ms for the servo to reach the position
}
for(pos = 180; pos>=0; pos-=1) // goes from 180 degrees to 0 degrees
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(5); // waits 15ms for the servo to reach the position
}
}
void Blinky() {
for(int i = 0;i<=15;i+=1)
{
digitalWrite(13, HIGH); // turn the LED on (HIGH is the voltage level)
delay(1000); // wait for a second
digitalWrite(13, LOW); // turn the LED off by making the voltage LOW
delay(1000); // wait for a second
}
}
// the loop function runs over and over again forever
void loop()
{
demoOne();
delay(1000);
ServoTest();
delay(1000);
demoTwo();
delay(1000);
Blinky();
delay(7000);
}
