void setup() {
// initialize both serial ports:
Serial.begin(9600);
Serial1.begin(9600);
}
void loop() {
// read from port 1, send to port 0:
if (Serial1.available()) {
int inByte = Serial1.read();
Serial.write(inByte);
}
// read from port 0, send to port 1:
if (Serial.available()) {
int inByte = Serial.read();
Serial1.write(inByte);
}
}
#define BRAKE 0
#define CW 1
#define CCW 2
#define CS_THRESHOLD 15 // Definition of safety current (Check: "1.3 Monster Shield Example").
//MOTOR 1
#define MOTOR_A1_PIN 7
#define MOTOR_B1_PIN 8
//MOTOR 2
#define MOTOR_A2_PIN 4
#define MOTOR_B2_PIN 9
#define PWM_MOTOR_1 5
#define PWM_MOTOR_2 6
#define CURRENT_SEN_1 A2
#define CURRENT_SEN_2 A3
#define EN_PIN_1 A0
#define EN_PIN_2 A1
#define MOTOR_1 0
#define MOTOR_2 1
short usSpeed = 150; //default motor speed
unsigned short usMotor_Status = BRAKE;
void setup()
{
pinMode(MOTOR_A1_PIN, OUTPUT);
pinMode(MOTOR_B1_PIN, OUTPUT);
pinMode(MOTOR_A2_PIN, OUTPUT);
pinMode(MOTOR_B2_PIN, OUTPUT);
pinMode(PWM_MOTOR_1, OUTPUT);
pinMode(PWM_MOTOR_2, OUTPUT);
pinMode(CURRENT_SEN_1, OUTPUT);
pinMode(CURRENT_SEN_2, OUTPUT);
pinMode(EN_PIN_1, OUTPUT);
pinMode(EN_PIN_2, OUTPUT);
Serial.begin(9600); // Initiates the serial to do the monitoring
Serial.println("Begin motor control");
Serial.println(); //Print function list for user selection
Serial.println("Enter number for control option:");
Serial.println("1. STOP");
Serial.println("2. FORWARD");
Serial.println("3. REVERSE");
Serial.println("4. READ CURRENT");
Serial.println("+. INCREASE SPEED");
Serial.println("-. DECREASE SPEED");
Serial.println();
}
void loop()
{
char user_input;
while(Serial.available())
{
user_input = Serial.read(); //Read user input and trigger appropriate function
digitalWrite(EN_PIN_1, HIGH);
digitalWrite(EN_PIN_2, HIGH);
if (user_input =='1')
{
Stop();
}
else if(user_input =='2')
{
Forward();
}
else if(user_input =='3')
{
Reverse();
}
else if(user_input =='+')
{
IncreaseSpeed();
}
else if(user_input =='-')
{
DecreaseSpeed();
}
else
{
Serial.println("Invalid option entered.");
}
}
}
void Stop()
{
Serial.println("Stop");
usMotor_Status = BRAKE;
motorGo(MOTOR_1, usMotor_Status, 0);
motorGo(MOTOR_2, usMotor_Status, 0);
}
void Forward()
{
Serial.println("Forward");
usMotor_Status = CW;
motorGo(MOTOR_1, usMotor_Status, usSpeed);
motorGo(MOTOR_2, usMotor_Status, usSpeed);
}
void Reverse()
{
Serial.println("Reverse");
usMotor_Status = CCW;
motorGo(MOTOR_1, usMotor_Status, usSpeed);
motorGo(MOTOR_2, usMotor_Status, usSpeed);
}
void IncreaseSpeed()
{
usSpeed = usSpeed + 10;
if(usSpeed > 255)
{
usSpeed = 255;
}
Serial.print("Speed +: ");
Serial.println(usSpeed);
motorGo(MOTOR_1, usMotor_Status, usSpeed);
motorGo(MOTOR_2, usMotor_Status, usSpeed);
}
void DecreaseSpeed()
{
usSpeed = usSpeed - 10;
if(usSpeed < 0)
{
usSpeed = 0;
}
Serial.print("Speed -: ");
Serial.println(usSpeed);
motorGo(MOTOR_1, usMotor_Status, usSpeed);
motorGo(MOTOR_2, usMotor_Status, usSpeed);
}
void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm) //Function that controls the variables: motor(0 ou 1), direction (cw ou ccw) e pwm (entra 0 e 255);
{
if(motor == MOTOR_1)
{
if(direct == CW)
{
digitalWrite(MOTOR_A1_PIN, LOW);
digitalWrite(MOTOR_B1_PIN, HIGH);
}
else if(direct == CCW)
{
digitalWrite(MOTOR_A1_PIN, HIGH);
digitalWrite(MOTOR_B1_PIN, LOW);
}
else
{
digitalWrite(MOTOR_A1_PIN, LOW);
digitalWrite(MOTOR_B1_PIN, LOW);
}
analogWrite(PWM_MOTOR_1, pwm);
}
else if(motor == MOTOR_2)
{
if(direct == CW)
{
digitalWrite(MOTOR_A2_PIN, LOW);
digitalWrite(MOTOR_B2_PIN, HIGH);
}
else if(direct == CCW)
{
digitalWrite(MOTOR_A2_PIN, HIGH);
digitalWrite(MOTOR_B2_PIN, LOW);
}
else
{
digitalWrite(MOTOR_A2_PIN, LOW);
digitalWrite(MOTOR_B2_PIN, LOW);
}
analogWrite(PWM_MOTOR_2, pwm);
}
}
The two codes above are working properly individually for my purpose, but since I need to control a 2 motor robotic platform via an android app, KAYU GAMBIRRA, I tried the commented code from this video Building and Controlling 4WD Arduino Robot using Android Joystick App - YouTube but it did not work. I suspect it may be a serial connection or a pin mapping.