I'm using PWM pins 5, 6, 9, and 10 to control the L298n motor. I'm sure that I get to the section in my code where analogWrite(PIN_PWM_L1,64); runs, but the car is not responding. I haven't touched this project for a couple months and it worked with the exact same configuration (almost positive).
How can I tell whether it's the motor or the pins that aren't working?
This is the code file, sorry if it's hard to read. It came with code for other functions that I'm not using but I can't remove or the code breaks.
//WIRING: in1 - D5, in2 - D6, in3 - D9, in4 - D10
//analog joystick values (with pin definitions on left): left to right - x-axis 0 to 1000, up to down - y-axis 0 to 1000
// PIN_PWM_L1,PIN_PWM_L2,PIN_PWM_R1,PIN_PWM_R2 Low-level control of left DC motors via PWM
//------------------------------------------------------//
// DEFINITIONS
//------------------------------------------------------//
//------------------------------------------------------//
//SETTINGS
//------------------------------------------------------//
// WARNING: If the sonar sensor is not setup, the car will go full speed forward!
#define NO_PHONE_MODE 1
//------------------------------------------------------//
// PINOUT
//------------------------------------------------------//
//Setup the pin definitions
#define PIN_PWM_L1 5 //left wheels forward
#define PIN_PWM_L2 6 //left wheels back
#define PIN_PWM_R1 10 //right wheels forward
#define PIN_PWM_R2 9 //right wheels back
#define X_pin A1 //joystick x-direction
#define Y_pin A0 //joystick y-direction
//------------------------------------------------------//
// INITIALIZATION
//------------------------------------------------------//
#include <limits.h>
const unsigned int STOP_THRESHOLD = 32; //cm
#if NO_PHONE_MODE
int turn_direction = 0; // right
const unsigned long TURN_DIRECTION_INTERVAL = 2000; // How frequently to change turn direction (ms).
unsigned long turn_direction_timeout = 0; // After timeout (ms), random turn direction is updated.
#endif
//Vehicle Control
int ctrl_left = 0;
int ctrl_right = 0;
//Voltage measurement
const unsigned int VIN_ARR_SZ = 10;
unsigned int vin_counter = 0;
unsigned int vin_array[VIN_ARR_SZ]={0};
//Speed sensor
const unsigned int DISK_HOLES = 20;
volatile int counter_left = 0;
volatile int counter_right = 0;
//Indicator Signal
const unsigned long INDICATOR_INTERVAL = 500; //Blinking rate of the indicator signal (ms).
unsigned long indicator_timeout = 0;
int indicator_val = 0;
//Serial communication
const unsigned long SEND_INTERVAL = 1000; // How frequently vehicle data is sent (ms).
unsigned long send_timeout = 0;
String inString = "";
//------------------------------------------------------//
// SETUP
//------------------------------------------------------//
void setup()
{
//Outputs
pinMode(PIN_PWM_L1,OUTPUT);
pinMode(PIN_PWM_L2,OUTPUT);
pinMode(PIN_PWM_R1,OUTPUT);
pinMode(PIN_PWM_R2,OUTPUT);
//Inputs
Serial.begin(115200,SERIAL_8N1); //8 data bits, no parity, 1 stop bit
send_timeout = millis() + SEND_INTERVAL; //wait for one interval to get readings
#if HAS_SPEED_SENSORS
attachPinChangeInterrupt(digitalPinToPinChangeInterrupt(PIN_SPEED_L), update_speed_left, FALLING);
attachPinChangeInterrupt(digitalPinToPinChangeInterrupt(PIN_SPEED_R), update_speed_right, FALLING);
#endif
}
//------------------------------------------------------//
// MAIN LOOP
//------------------------------------------------------//
void loop() {
float joy_x = analogRead(X_pin); //read data to joystick variables
float joy_y = analogRead(Y_pin);
// Send vehicle measurments to serial every SEND_INTERVAL
if (millis() >= send_timeout) {
send_vehicle_data();
send_timeout = millis() + SEND_INTERVAL;
}
// drive forward
Serial.println("joy x: "+String(joy_x));
Serial.println("joy y: "+String(joy_y));
if(joy_x>450&&joy_x<530) //neutral x is 504
{
if(joy_y >500 && joy_y<550) //if both x and y are centered, car does not move
{
// analogWrite(PIN_PWM_L1,0);
// analogWrite(PIN_PWM_L2,0);
// analogWrite(PIN_PWM_R1,0);
// analogWrite(PIN_PWM_R2,0);
ctrl_left=0;
ctrl_right=0;
Serial.println("not moving");
}
if(joy_y < 500) //if x is centered but y<500, car moves forwards
{
ctrl_left = 1;
ctrl_right = 1;
Serial.println("going forwards");
}else if(joy_y>550) //neutral y is 523 - if x is centered but y>550, car moves back
{
ctrl_left = -1;
ctrl_right = -1;
Serial.println("going backwards");
}
}else if(joy_x<450)
{
ctrl_left = 1;
ctrl_right = 0;
Serial.println("turn left");
}else if(joy_x>530)
{
ctrl_left = 0;
ctrl_right = 1;
Serial.println("turn right");
}
update_left_motors();
update_right_motors();
}
//------------------------------------------------------//
// FUNCTIONS
//------------------------------------------------------//
//write ctrl_left and ctrl_right values to motor
void update_left_motors() {
if (ctrl_left < 0) {
analogWrite(PIN_PWM_L1,64);
}
else if (ctrl_left > 0) {
analogWrite(PIN_PWM_L2,10);
}
else { //Motor brake
analogWrite(PIN_PWM_L1,255);
analogWrite(PIN_PWM_L2,255);
}
}
void update_right_motors() {
if (ctrl_right < 0) {
analogWrite(PIN_PWM_R1,64);
}
else if (ctrl_right > 0) {
analogWrite(PIN_PWM_R2,10);
}
else { //Motor brake
analogWrite(PIN_PWM_R1,255);
analogWrite(PIN_PWM_R2,255);
}
}
//this segment came with openbot code, code breaks if removed
void send_vehicle_data() {
// float voltage_value = get_voltage();
int ticks_left = counter_left;
counter_left = 0;
int ticks_right = counter_right;
counter_right = 0;
#if (NO_PHONE_MODE || HAS_OLED)
float rpm_factor = 60.0*(1000.0/SEND_INTERVAL)/(DISK_HOLES);
float rpm_left = ticks_left*rpm_factor;
float rpm_right = ticks_right*rpm_factor;
#endif
#if (NO_PHONE_MODE)
// Serial.print("Voltage: "); Serial.println(voltage_value, 2);
Serial.print("Left RPM: "); Serial.println(rpm_left, 0);
Serial.print("Right RPM: "); Serial.println(rpm_right, 0);
// Serial.print("Distance: "); Serial.println(distance_estimate);
Serial.println("------------------");
#else
// Serial.print(voltage_value);
// Serial.print(",");
// Serial.print(ticks_left);
// Serial.print(",");
// Serial.print(ticks_right);
// Serial.print(",");
// Serial.print(distance_estimate);
// Serial.println();
#endif
}
