// simple_motor_sketch version 1.0 J.Luke (RobotBits.co.uk)
//
// A simple sketch to help you get started with the Arduino Motor Shield
// in robotics applications
//
// This example has been written for any mobile robotics platform that uses
// two bi-directional motors controlled by an Arduino and a Motor Shield
//
// This sketch includes a series of functions that perform the different
// types of movement for your robot including:
//
// forward, reverse, stop, rotate clock-wise, rotate counter clock-wise,
// turn_left and turn_right
//
// To program the movement of your robot simply call the functions as needed
// from the main loop
//
// This example loop below moves your robot in a "square" figure or eight
//
// For support, please contact support@robotbits.co.uk
// define the pins used by the motor shield
int speedA = 10; // pin 10 sets the speed of motor A (this is a PWM output)
int speedB = 11; // pin 11 sets the speed of motor B (this is a PWM output)
int dirA = 12; // pin 12 sets the direction of motor A
int dirB = 13; // pin 13 sets the direction of motor B
// define the direction of motor rotation - this allows you change the direction without effecting the hardware
int fwdA = LOW; // this sketch assumes that motor A is the right-hand motor of your robot (looking from the back of your robot)
int revA = HIGH; // (note this should ALWAYS be opposite the fwdA)
int fwdB = LOW; //
int revB = HIGH; // (note this should ALWAYS be opposite the fwdB)
// define variables used
int dist;
int angle;
int vel;
void setup() { // sets up the pinModes for the pins we are using
pinMode (dirA, OUTPUT);
pinMode (dirB, OUTPUT);
pinMode (speedA, OUTPUT);
pinMode (speedB, OUTPUT);
}
void stop() { // stop: force both motor speeds to 0 (low)
digitalWrite (speedA, LOW);
digitalWrite (speedB, LOW);
}
void forward(int dist, int vel) { // forward: both motors set to forward direction
digitalWrite (dirA, fwdA);
digitalWrite (dirB, fwdB);
analogWrite (speedA, vel); // both motors set to same speed
analogWrite (speedB, vel);
delay (dist); // wait for a while (dist in mSeconds)
}
void reverse(int dist, int vel) { // reverse: both motors set to reverse direction
digitalWrite (dirA, revA);
digitalWrite (dirB, revB);
analogWrite (speedA, vel); // both motors set to same speed
analogWrite (speedB, vel);
delay (dist); // wait for a while (dist in mSeconds)
}
void rot_cw (int angle, int vel) { // rotate clock-wise: right-hand motor reversed, left-hand motor forward
digitalWrite (dirA, revA);
digitalWrite (dirB, fwdB);
analogWrite (speedA, vel); // both motors set to same speed
analogWrite (speedB, vel);
delay (angle); // wait for a while (angle in mSeconds)
}
void rot_ccw (int angle, int vel) { // rotate counter-clock-wise: right-hand motor forward, left-hand motor reversed
digitalWrite (dirA, fwdA);
digitalWrite (dirB, revB);
analogWrite (speedA, vel); // both motors set to same speed
analogWrite (speedB, vel);
delay (angle); // wait for a while (angle in mSeconds)
}
void turn_right (int angle, int vel) { // turn right: right-hand motor stopped, left-hand motor forward
digitalWrite (dirA, revA);
digitalWrite (dirB, fwdB);
digitalWrite (speedA, LOW); // right-hand motor speed set to zero
analogWrite (speedB, vel);
delay (angle); // wait for a while (angle in mSeconds)
}
void turn_left (int angle, int vel) { // turn left: left-hand motor stopped, right-hand motor forward
digitalWrite (dirA, fwdA);
digitalWrite (dirB, revB);
analogWrite (speedA, vel);
digitalWrite (speedB, LOW); // left-hand motor speed set to zero
delay (angle); // wait for a while (angle in mSeconds)
}
void loop() {
forward (2000, 100); // move forward for two seconds (2000 mS) at speed 100 (100/255ths of full speed)
rot_cw (325, 100); // rotate clock-wise for 325 mS (about 90 deg) at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_cw (325, 100); // rotate clock-wise for 325 mS at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_cw (325, 100); // rotate clock-wise for 325 mS at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_cw (325, 100); // rotate clock-wise for 325 mS at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_ccw (325, 100); // rotate counter clock-wise for 325 mS at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_ccw (325, 100); // rotate counter clock-wise for 325 mS at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_ccw (325, 100); // rotate counter clock-wise for 325 mS at speed 100
forward (2000, 100); // move forward for 2000 mS at speed 100
rot_ccw (325, 100); // rotate counter clock-wise for 325 mS at speed 100
stop(); // stop the robot
delay(1000); // wait one second (1000 mS) before restarting
}
