From 64ea846bb5581bc825b88259427834dc2909caf5 Mon Sep 17 00:00:00 2001
From: eaman <eaman@sid>
Date: Mon, 27 Mar 2017 22:42:06 +0200
Subject: [PATCH] functions motor

---
 prototypes/motor/drive/drive.ino              | 76 ++++++++++++++
 prototypes/motor/motor_func/motor_func.ino    | 98 +++++++++++++++++++
 prototypes/motor/motor_pwm/motor_pwm.ino      | 56 +++++++++++
 prototypes/motor/motors/motors.ino            | 40 ++++++++
 .../motor/{motor.ino => single/single.ino}    |  2 +-
 5 files changed, 271 insertions(+), 1 deletion(-)
 create mode 100644 prototypes/motor/drive/drive.ino
 create mode 100644 prototypes/motor/motor_func/motor_func.ino
 create mode 100644 prototypes/motor/motor_pwm/motor_pwm.ino
 create mode 100644 prototypes/motor/motors/motors.ino
 rename prototypes/motor/{motor.ino => single/single.ino} (98%)

diff --git a/prototypes/motor/drive/drive.ino b/prototypes/motor/drive/drive.ino
new file mode 100644
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();
+}
diff --git a/prototypes/motor/motor_func/motor_func.ino b/prototypes/motor/motor_func/motor_func.ino
new file mode 100644
index 0000000..cf7c254
--- /dev/null
+++ b/prototypes/motor/motor_func/motor_func.ino
@@ -0,0 +1,98 @@
+/* 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);
+}
+
+// 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);
+}
diff --git a/prototypes/motor/motor_pwm/motor_pwm.ino b/prototypes/motor/motor_pwm/motor_pwm.ino
new file mode 100644
index 0000000..718e5ba
--- /dev/null
+++ b/prototypes/motor/motor_pwm/motor_pwm.ino
@@ -0,0 +1,56 @@
+/* L298n motor
+Aggiunta
+
+Pilotare 1 motore DC con un modulo l928n
+Enable in PWM per settare velocita' massima
+
+- 1 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 = 0;
+
+void setup() {
+    pinMode(enA, OUTPUT);
+    pinMode(in1, OUTPUT);
+    pinMode(in2, OUTPUT);
+//  pinMode(enB, OUTPUT);
+//  pinMode(in3, OUTPUT);
+//  pinMode(in4, OUTPUT);
+}
+
+
+void loop() {
+// Forward
+    digitalWrite(in1,LOW);
+    digitalWrite(in2,HIGH);
+    analogWrite(enA,speed);
+    delay(2000);
+
+// Stop
+    digitalWrite(enA,LOW);
+    delay(1000);
+
+// Backward
+    digitalWrite(in2,LOW);
+    digitalWrite(in1,HIGH);
+    analogWrite(enA,speed);
+    delay(2000);
+
+// Stop
+    digitalWrite(enA,LOW);
+    delay(1000);
+}
diff --git a/prototypes/motor/motors/motors.ino b/prototypes/motor/motors/motors.ino
new file mode 100644
index 0000000..103eb2d
--- /dev/null
+++ b/prototypes/motor/motors/motors.ino
@@ -0,0 +1,40 @@
+/* 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
+
+*/
+#include <rover.h>
+
+
+void setup() {
+    abilita();
+}
+
+
+void loop() {
+// Forward
+    forwardA();
+    forwardB();
+    delay(2000);
+
+// Stop
+    stopA();
+    stopB();
+    delay(1000);
+
+// Backward
+    backwardA();
+    backwardB();
+    delay(2000);
+
+// Stop
+    stopA();
+    stopB();
+    delay(1000);
+}
diff --git a/prototypes/motor/motor.ino b/prototypes/motor/single/single.ino
similarity index 98%
rename from prototypes/motor/motor.ino
rename to prototypes/motor/single/single.ino
index e66253c..47e0c04 100644
--- a/prototypes/motor/motor.ino
+++ b/prototypes/motor/single/single.ino
@@ -1,4 +1,4 @@
-/* L298n motors
+/* L298n motor
 Aggiunta
 
 Pilotare 1 motore DC con un modulo l928n
-- 
2.39.2