Robot Quickstart!

Contributors: Miskatonic

Complete Code

Here's the complete test code. We've created two custom functions to control the two motors: setMotorA() and setMotorB(). These functions take a single parameter from -255 to +255 that defines the speed of the motor. Positive values drive the motor clockwise, and negative values drive the motor counter-clockwise.

language:cpp
const byte AIN1 = 13; 
const byte AIN2 = 12;
const byte PWMA = 11;

const byte BIN1 = 8; 
const byte BIN2 = 9;
const byte PWMB = 10;

void setup()
{
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(PWMA, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);
  pinMode(PWMB, OUTPUT);
}

void loop() 
{
  //set direction to clockwise
  setMotorA(50);
  setMotorB(-50);
  delay(1000);

  //set direction to counterclockwise
  setMotorA(-255);
  setMotorB(255);
  delay(1000); //brake

  setMotorA(0);
  setMotorB(0);
  delay(1000);
}

void setMotorA(int motorSpeed)
{
  if (motorSpeed > 0)
  {
    digitalWrite(AIN1, HIGH);
    digitalWrite(AIN2, LOW);
  }
  else if (motorSpeed < 0)
  {
    digitalWrite(AIN1, LOW);
    digitalWrite(AIN2, HIGH);
  }
  else 
  {
    digitalWrite(AIN1, HIGH);
    digitalWrite(AIN2, HIGH);
  }
  analogWrite(PWMA, abs(motorSpeed)); 
}

void setMotorB(int motorSpeed)
{
  if (motorSpeed > 0)
  {
    digitalWrite(BIN1, HIGH);
    digitalWrite(BIN2, LOW);
  }
  else if (motorSpeed < 0)
  {
    digitalWrite(BIN1, LOW);
    digitalWrite(BIN2, HIGH);
  }
  else 
  {
    digitalWrite(BIN1, HIGH);
    digitalWrite(BIN2, HIGH);
  }
  analogWrite(PWMB, abs(motorSpeed)); 
}