Merge branch 'andrea' with motors functions

[rover] / prototypes / motor / drive / drive.ino

diff --git a/prototypes/motor/drive/drive.ino b/prototypes/motor/drive/drive.ino
new file mode 100644 (file)
index 0000000..8c0c8e9
--- /dev/null
+++ b/prototypes/motor/drive/drive.ino
@@ -0,0 +1,76 @@
+/* L298n motor
+Aggiunta
+
+Guida 2WD composta da 2 motori
+
+- 2 motori DC
+- L298n module
+- Batteria > 6v
+
+*/
+
+#include <rover.h>
+
+void setup() {
+    abilita();
+}
+
+
+void loop() {
+// Avanti
+    avanti();
+    delay(2000);
+// Stop
+    stop();
+    delay(1000);
+
+// TurnSX
+    turnSX();
+    delay(1000);
+
+// Avanti
+    avanti();
+    delay(2000);
+// Stop
+    stop();
+    delay(1000);
+
+
+// TurnDX
+    turnDX();
+    delay(1000);
+
+// Stop
+    stop();
+    delay(1000);
+}
+
+// Functions
+void avanti() {
+    // Drive ahead: funzione composita
+    forwardA() ;
+    forwardB() ;
+}
+
+void indietro() {
+    // Drive backward: funzione composita
+    backwardA();
+    backwardB();
+}
+
+void turnDX() {
+    // Gira a DX
+    forwardB() ;
+    backwardA();
+}
+
+void turnSX() {
+    // Gira a DX
+    forwardA() ;
+    backwardB();
+}
+
+void stop() {
+    stopA();
+    stopB();
+}