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mtr_drv_final.ino
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mtr_drv_final.ino
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// Pin definitions for motor driver
// Pin Numbers 2, 3, 4, 5 are for PWM
#define M1LH 2 // Format: Motor 1 Left-High - Pin Number 2
#define M1RH 3 // . Motor 1 Right-High - Pin Number 3
#define M1LL 14 // .
#define M1RL 15 // .
#define M2LH 4 // .
#define M2RH 5 // .
#define M2LL 16 // .
#define M2RL 17 // .
void setup() {
pinMode(M1LH, OUTPUT);
pinMode(M1RH, OUTPUT);
pinMode(M1LL, OUTPUT);
pinMode(M1RL, OUTPUT);
pinMode(M2LH, OUTPUT);
pinMode(M2RH, OUTPUT);
pinMode(M2LL, OUTPUT);
pinMode(M2RL, OUTPUT);
Serial.begin(9600);
}
void loop() {
// Call the movement functions here (●'◡'●)
// Note - Speed factor is a required argument
// 0 being stopped, 255 being at maximum speed
// Example usage: backward(255);
// We'll be using the maximum value always
// since we want robot to go vroom vroom
// Good Luck (❁´◡`❁)
forward(180);
delay(200);
}
// Movement Functions are defined assuming:
// Motor 1 is connected to - left tire
// Motor 2 is connceted to - right tire
// Speed factor - Value ranges from 0 to 255
void forward(int speed_factor) { // Turns both motor CW -> forward direction
// Motor 1 -> Clockwise
analogWrite(M1LH, speed_factor);
analogWrite(M1RH, 0);
digitalWrite(M1LL, LOW);
digitalWrite(M1RL, HIGH);
// Motor 2 -> Clockwise
analogWrite(M2LH, speed_factor);
analogWrite(M2RH, 0);
digitalWrite(M2LL, LOW);
digitalWrite(M2RL, HIGH);
}
void backward(int speed_factor) { // Turns both motor CCW -> backward direction
// Motor 1 -> Counter Clockwise
analogWrite(M1LH, 0);
analogWrite(M1RH, speed_factor);
digitalWrite(M1LL, HIGH);
digitalWrite(M1RL, LOW);
// Motor 2 -> Counter Clockwise
analogWrite(M2LH, 0);
analogWrite(M2RH, speed_factor);
digitalWrite(M2LL, HIGH);
digitalWrite(M2RL, LOW);
}
void left(int speed_factor) { // Turns left motor CCW and right motor CW
// Robot turns left around its own axis
// Motor 1 -> Counter Clockwise
analogWrite(M1LH, 0);
analogWrite(M1RH, speed_factor);
digitalWrite(M1LL, HIGH);
digitalWrite(M1RL, LOW);
// Motor 2 -> Clockwise
analogWrite(M2LH, speed_factor);
analogWrite(M2RH, 0);
digitalWrite(M2LL, LOW);
digitalWrite(M2RL, HIGH);
}
void right(int speed_factor) { // Turns left motor CW and right motor CCW
// Robot turns right around its own axis
// Motor 1 -> Clockwise
analogWrite(M1LH, speed_factor);
analogWrite(M1RH, 0);
digitalWrite(M1LL, LOW);
digitalWrite(M1RL, HIGH);
// Motor 2 -> Counter Clockwise
analogWrite(M2LH, 0);
analogWrite(M2RH, speed_factor);
digitalWrite(M2LL, HIGH);
digitalWrite(M2RL, LOW);
}
void stop_all() { // Turns both motor off -> Stopped
// Motor 1 -> Stop
analogWrite(M1LH, 0);
analogWrite(M1RH, 0);
digitalWrite(M1LL, LOW);
digitalWrite(M1RL, LOW);
// Motor 2 -> Stop
analogWrite(M2LH, 0);
analogWrite(M2RH, 0);
digitalWrite(M2LL, LOW);
digitalWrite(M2RL, LOW);
}