Merge branch 'andrea' with motors functions

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

diff --git a/prototypes/motor/motor_func/motor_func.ino b/prototypes/motor/motor_func/motor_func.ino
new file mode 100644 (file)
index 0000000..83a3748
--- /dev/null
+++ b/prototypes/motor/motor_func/motor_func.ino
@@ -0,0 +1,118 @@
+/* L298n motor
+Aggiunta
+
+Pilotare 2 motore DC con un modulo l928n
+Enable in PWM per settare velocita' massima
+
+- 2 motori DC
+- L298n module
+- Batteria > 6v
+
+*/
+
+
+// Configurazione con OUTPUT digitali
+// motor one
+const int enA = 6;
+const int in1 = 7;
+const int in2 = 8;
+byte speedA = 255;
+// motor two
+const int enB = 5;
+const int in3 = 4;
+const int in4 = 3;
+byte speedB = 255;
+
+void setup() {
+    pinMode(enA, OUTPUT);
+    pinMode(in1, OUTPUT);
+    pinMode(in2, OUTPUT);
+    pinMode(enB, OUTPUT);
+    pinMode(in3, OUTPUT);
+    pinMode(in4, OUTPUT);
+}
+
+
+void loop() {
+// Forward
+    forwardA();
+    forwardB();
+    delay(2000);
+
+// Stop
+    stopA();
+    stopB();
+    delay(1000);
+
+// Backward
+    backwardA();
+    backwardB();
+    delay(2000);
+
+// Stop
+    stopA();
+    stopB();
+    delay(1000);
+
+// Left
+    backwardA();
+    forwardB();
+    delay(2000);
+
+// Stop
+    stopA();
+    stopB();
+    delay(1000);
+
+// right
+    backwardB();
+    forwardA();
+    delay(2000);
+
+// Stop
+    stopA();
+    stopB();
+    delay(1000);
+}
+
+// Functions
+
+// MotorB
+void forwardA() {
+    // Avanzamento motore
+    digitalWrite(in1,LOW);
+    digitalWrite(in2,HIGH);
+    analogWrite(enA,speedA);
+}
+
+void backwardA() {
+    // Reverse motore
+    digitalWrite(in2,LOW);
+    digitalWrite(in1,HIGH);
+    analogWrite(enA,speedA);
+}
+
+void stopA() {
+    // Stop
+    digitalWrite(enA,LOW);
+}
+
+// MotorB
+void forwardB() {
+    // Avanzamento motore
+    digitalWrite(in3,LOW);
+    digitalWrite(in4,HIGH);
+    analogWrite(enB,speedB);
+}
+
+void backwardB() {
+    // Reverse motore
+    digitalWrite(in4,LOW);
+    digitalWrite(in3,HIGH);
+    analogWrite(enB,speedB);
+}
+
+void stopB() {
+    // Stop
+    digitalWrite(enB,LOW);
+}