MDDS60SerialPacketized.ino

/* 
 * This example shows how to control MDDS60 in Serial Packetized with Arduino.
 * Set MDDS60 input mode to 0b11100000
 *
 * Serial Packet:
 *   1st byte: Header.
 *   2nd byte: Channel & Address.
 *   3rd byte: Speed & Direction.
 *   4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
 *
 * For more information, please refer to MDDS60 User's Manual
 * https://docs.google.com/document/d/15ICHc5CqQL8oXdU-n3ZL0_o8Vm4wQCnWOHHEfrEDDaI/view
 *
 * Reference Tutorial:
 * - Let's Arduino Control Your SmartDriveDuo-60
 *
 * Related Products:
 * - SmartDriveDuo-60: http://www.cytron.com.my/P-MDDS60
 * - CT UNO: http://www.cytron.com.my/p-ct-uno
 * - DC Brush Motors: http://www.cytron.com.my/c-84-dc-motor
 * - LiPo Battery: http://www.cytron.com.my/c-87-power/c-97-lipo-rechargeable-battery-and-charger
 *
 * URL: http://www.cytron.com.my
 */

#include <SoftwareSerial.h>

SoftwareSerial MDDS60Serial(2, 3); // RX (not use), TX

void setup()
{
  MDDS60Serial.begin(9600); // Initialize serial
  delay(2000); // Delay for 2 seconds.
  
  MDDS60Serial.write(85); // Dummy byte for auto baudrate.
  delay(3000); // Delay for 3 seconds.
}

void loop()
{
  // Controlling left motor, direction CW
  MDDS60Serial.write(85); // 1st byte: Header.
  MDDS60Serial.write((byte)0); // 2nd byte: Channel = left & Address = 0.
  MDDS60Serial.write(63); // 3rd byte: Speed = half & Direction = CW.
  MDDS60Serial.write(85 + 63); // 4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
  delay(2000);
  // Controlling left motor, direction CCW
  MDDS60Serial.write(85); // 1st byte: Header.
  MDDS60Serial.write((byte)0); // 2nd byte: Channel = left & Address = 0.
  MDDS60Serial.write(192); // 3rd byte: Speed = half & Direction = CCW.
  MDDS60Serial.write(85 + 192); // 4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
  delay(2000);
  // Stop left motor
  MDDS60Serial.write(85); // 1st byte: Header.
  MDDS60Serial.write((byte)0); // 2nd byte: Channel = left & Address = 0.
  MDDS60Serial.write(127); // 3rd byte: Speed = 0.
  MDDS60Serial.write(85 + 127); // 4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
  
  delay(1000); // Delay for 1s.
  
  // Controlling right motor, direction CW
  MDDS60Serial.write(85); // 1st byte: Header.
  MDDS60Serial.write(8); // 2nd byte: Channel = right & Address = 0.
  MDDS60Serial.write(63); // 3rd byte: Speed = half & Direction = CW.
  MDDS60Serial.write(85 + 8 + 63); // 4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
  delay(2000);
  // Controlling right motor, direction CCW
  MDDS60Serial.write(85); // 1st byte: Header.
  MDDS60Serial.write(8); // 2nd byte: Channel = right & Address = 0.
  MDDS60Serial.write(192); // 3rd byte: Speed = half & Direction = CCW.
  MDDS60Serial.write(85 + 8 + 192); // 4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
  delay(2000);
  // Stop right motor
  MDDS60Serial.write(85); // 1st byte: Header.
  MDDS60Serial.write(8); // 2nd byte: Channel = right & Address = 0.
  MDDS60Serial.write(127); // 3rd byte: Speed = 0.
  MDDS60Serial.write(85 + 8 + 127); // 4th byte: Checksum = 1st byte + 2nd byte + 3rd byte.
  
  delay(1000); // Delay for 1s.
}