Hello, this is one of my first projects with Arduino.
The issue:
- Initially, only M3 and M4 were spinning.
- After a few tweaks (such as running a blink test), M1 started spinning, but M4 stopped working.
- Now, none of the motors are spinning, even when using test code or direct commands through the
AFMotorlibrary.
What I’ve Tried
- Hardware Tests:
- Verified motors work independently by powering them directly from a battery.
- Checked all motor connections to the shield and ensured the wires are secure.
- Ensured the motor shield is seated properly on the Arduino and powered adequately.
- Power Supply:
- Using a separate external power supply for the motors (6x AA battery pack).
- Confirmed the voltage is within the expected range.
- Library and Code:
- Tested with a simple sketch using the
AFMotorlibrary (e.g., one motor running forward). - Tried basic examples from the library with no success.
- Reset and Re-Test:
- Reset both the Arduino and motor shield.
- Ran a “blink test” (toggling pin states on the motor shield), which worked at one point but now seems to have no effect.
- Motor Shield:
- Inspected for loose solder joints or damage—everything looks fine visually.
Here is my code:
#include <AFMotor.h>
#include <IRremote.h>
#include <Servo.h>
// Pin Assignments
const int IR_RECEIVER_PIN = A5; // IR receiver connected to A5
// Motor Setup using AFMotor
AF_DCMotor motor1(1); // Left Front Motor
AF_DCMotor motor2(2); // Left Rear Motor
AF_DCMotor motor3(3); // Right Front Motor
AF_DCMotor motor4(4); // Right Rear Motor
// Ultrasonic Sensor Pins
const int TRIG_PIN = A0; // Ultrasonic sensor TRIG pin
const int ECHO_PIN = A1; // Ultrasonic sensor ECHO pin
// Servo Pin
const int SERVO_PIN = 12; // Servo motor for ultrasonic rotation
// Signal Strength Thresholds
const int STRONG_SIGNAL_THRESHOLD = 200; // Strong signal (near the IR beacon)
const int WEAK_SIGNAL_THRESHOLD = 50; // Weak signal (far from IR beacon)
// Obstacle Detection Threshold (in cm)
const int OBSTACLE_DISTANCE = 15; // Stop if an obstacle is within 15 cm
// IR Receiver Setup
IRrecv irrecv(IR_RECEIVER_PIN); // Define IR receiver object
decode_results results; // Variable to store IR data
// Servo setup
Servo ultrasonicServo;
// Motor Pins
const int motor1Pin1 = 3; // Motor 1 forward
const int motor1Pin2 = 4; // Motor 1 backward
const int motor2Pin1 = 5; // Motor 2 forward
const int motor2Pin2 = 6; // Motor 2 backward
void testMotors() {
pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
// Test Motor 1 and Motor 2
Serial.begin(9600);
Serial.println("Testing Motors...");
// Forward direction for Motor 1
digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
delay(1000); // Run Motor 1 for 1 second
// Forward direction for Motor 2
digitalWrite(motor2Pin1, HIGH);
digitalWrite(motor2Pin2, LOW);
delay(1000); // Run Motor 2 for 1 second
// Stop motors
digitalWrite(motor1Pin1, LOW);
digitalWrite(motor1Pin2, LOW);
digitalWrite(motor2Pin1, LOW);
digitalWrite(motor2Pin2, LOW);
Serial.println("Motors stopped");
}
void setup() {
Serial.begin(9600);
Serial.println("Initializing...");
// Ultrasonic Sensor Pins Setup
pinMode(TRIG_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);
// Servo Setup
ultrasonicServo.attach(SERVO_PIN);
// Start IR Receiver
irrecv.enableIRIn(); // Initialize IR receiver
// Center servo initially
ultrasonicServo.write(90);
testMotors(); // Test Motors
Serial.println("Setup complete.");
}
// Obstacle Avoidance Logic
void avoidObstacle() {
// Move backward briefly
moveBackward();
delay(500); // Adjust as needed
stopMotors();
// Look left
ultrasonicServo.write(45); // Rotate servo left
delay(500); // Allow time for servo to rotate
int leftDistance = measureDistance();
// Look right
ultrasonicServo.write(135); // Rotate servo right
delay(500); // Allow time for servo to rotate
int rightDistance = measureDistance();
// Center the servo again
ultrasonicServo.write(90);
delay(500);
// Decide direction based on more space
if (leftDistance > rightDistance) {
turnLeft();
Serial.println("Turning left...");
} else {
turnRight();
Serial.println("Turning right...");
}
// Move forward again
moveForward();
delay(1000); // Adjust as needed
stopMotors();
}
// Ultrasonic Sensor Function to Detect Obstacles
bool isObstacleDetected() {
int distance = measureDistance();
// Debug: Print distance
Serial.print("Distance: ");
Serial.print(distance);
Serial.println(" cm");
// Return true if the obstacle is within the defined threshold
return (distance > 0 && distance <= OBSTACLE_DISTANCE);
}
// Measure Distance Function
int measureDistance() {
// Send ultrasonic pulse
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
// Measure pulse duration
long duration = pulseIn(ECHO_PIN, HIGH);
// Convert duration to distance in cm
int distance = duration * 0.034 / 2;
return distance;
}
void moveForward() {
Serial.println("Attempting to move motors forward...");
motor1.setSpeed(255);
motor1.run(FORWARD);
Serial.println("Motor 1: FORWARD");
motor2.setSpeed(255);
motor2.run(FORWARD);
Serial.println("Motor 2: FORWARD");
motor3.setSpeed(255);
motor3.run(FORWARD);
Serial.println("Motor 3: FORWARD");
motor4.setSpeed(255);
motor4.run(FORWARD);
Serial.println("Motor 4: FORWARD");
}
void moveBackward() {
Serial.println("Attempting to move motors backward...");
motor1.setSpeed(255);
motor1.run(BACKWARD);
Serial.println("Motor 1: BACKWARD");
motor2.setSpeed(255);
motor2.run(BACKWARD);
Serial.println("Motor 2: BACKWARD");
motor3.setSpeed(255);
motor3.run(BACKWARD);
Serial.println("Motor 3: BACKWARD");
motor4.setSpeed(255);
motor4.run(BACKWARD);
Serial.println("Motor 4: BACKWARD");
}
void turnLeft() {
Serial.println("Attempting to turn left...");
motor1.setSpeed(255);
motor1.run(BACKWARD); // Left motors backward
Serial.println("Motor 1: BACKWARD");
motor2.setSpeed(255);
motor2.run(BACKWARD); // Left motors backward
Serial.println("Motor 2: BACKWARD");
motor3.setSpeed(255);
motor3.run(FORWARD); // Right motors forward
Serial.println("Motor 3: FORWARD");
motor4.setSpeed(255);
motor4.run(FORWARD); // Right motors forward
Serial.println("Motor 4: FORWARD");
}
void turnRight() {
Serial.println("Attempting to turn right...");
motor1.setSpeed(255);
motor1.run(FORWARD); // Left motors forward
Serial.println("Motor 1: FORWARD");
motor2.setSpeed(255);
motor2.run(FORWARD); // Left motors forward
Serial.println("Motor 2: FORWARD");
motor3.setSpeed(255);
motor3.run(BACKWARD); // Right motors backward
Serial.println("Motor 3: BACKWARD");
motor4.setSpeed(255);
motor4.run(BACKWARD); // Right motors backward
Serial.println("Motor 4: BACKWARD");
}
void stopMotors() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
Serial.println("All motors stopped");
}
void adjustDirection() {
if (irrecv.decode(&results)) {
long irSignalStrength = results.value; // Get the actual signal strength
Serial.print("Signal Strength: ");
Serial.println(irSignalStrength);
if (irSignalStrength > STRONG_SIGNAL_THRESHOLD) {
// Move towards the beacon (signal is strong)
moveForward();
} else if (irSignalStrength < WEAK_SIGNAL_THRESHOLD) {
// Signal is weak, adjust direction to find stronger signal
turnLeft();
delay(1000); // Adjust the amount of time based on testing
turnRight();
delay(1000);
} else {
// Stop if no signal is detected
stopMotors();
}
irrecv.resume(); // Resume IR receiver
}
}
void loop() {
// Check for obstacles
if (isObstacleDetected()) {
Serial.println("Obstacle detected, avoiding...");
avoidObstacle();
} else {
// IR Signal Following Logic
adjustDirection();
}
}
Also, the serial monitor shows that it is getting the commands.
I am also very sure that there is no hardware issue because I have ran multiple tests. I believe there is a problem with the code.