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Plastic Ant Combat Bot Receiver
/**
* Two Channel Receiver
* Author: Shawn Hymel (SparkFun Electronics)
* Date: Aug 24, 2017
*
* Updated Sep 28, 2017 - Added direction multiplier (DIR) to
* account for transmitter controller directions.
*
* Connect a TB6612FNG and RC (PWM) receiver to the Arduino.
* Mixes two channels for arcade drive.
*
* This code is beerware; if you see me (or any other SparkFun
* employee) at the local, and you've found our code helpful,
* please buy us a round!
* Distributed as-is; no warranty is given.
*/
// Controller pins
const int CH_1_PIN = 10;
const int CH_2_PIN = 11;
// Motor driver pins
const int STBY_PIN = 9;
const int AIN1_PIN = 2;
const int AIN2_PIN = 4;
const int APWM_PIN = 5;
const int BIN1_PIN = 7;
const int BIN2_PIN = 8;
const int BPWM_PIN = 6;
const int DIR = -1;
// Parameters
const int deadzone = 20; // Anything between -20 and 20 is stop
void setup() {
// Configure pins
pinMode(STBY_PIN, OUTPUT);
pinMode(AIN1_PIN, OUTPUT);
pinMode(AIN2_PIN, OUTPUT);
pinMode(APWM_PIN, OUTPUT);
pinMode(BIN1_PIN, OUTPUT);
pinMode(BIN2_PIN, OUTPUT);
pinMode(BPWM_PIN, OUTPUT);
// Enable motor driver
digitalWrite(STBY_PIN, HIGH);
}
void loop() {
// Read pulse width from receiver
int y = pulseIn(CH_2_PIN, HIGH, 25000);
int x = pulseIn(CH_1_PIN, HIGH, 25000);
// Convert to PWM value (-255 to 255)
y = pulseToPWM(y);
x = pulseToPWM(x);
// Mix for arcade drive
int right = y + x;
int left = y - x;
// Drive motor
drive(DIR * left, DIR * right);
delay(5);
}
// Positive for forward, negative for reverse
void drive(int speed_a, int speed_b) {
// Limit speed between -255 and 255
speed_a = constrain(speed_a, -255, 255);
speed_b = constrain(speed_b, -255, 255);
// Set direction for motor A
if ( speed_a == 0 ) {
digitalWrite(AIN1_PIN, LOW);
digitalWrite(AIN2_PIN, LOW);
} else if ( speed_a > 0 ) {
digitalWrite(AIN1_PIN, HIGH);
digitalWrite(AIN2_PIN, LOW);
} else {
digitalWrite(AIN1_PIN, LOW);
digitalWrite(AIN2_PIN, HIGH);
}
// Set direction for motor B
if ( speed_b == 0 ) {
digitalWrite(BIN1_PIN, LOW);
digitalWrite(BIN2_PIN, LOW);
} else if ( speed_b > 0 ) {
digitalWrite(BIN1_PIN, HIGH);
digitalWrite(BIN2_PIN, LOW);
} else {
digitalWrite(BIN1_PIN, LOW);
digitalWrite(BIN2_PIN, HIGH);
}
// Set speed
analogWrite(APWM_PIN, abs(speed_a));
analogWrite(BPWM_PIN, abs(speed_b));
}
// Convert RC pulse value to motor PWM value
int pulseToPWM(int pulse) {
// If we're receiving numbers, convert them to motor PWM
if ( pulse > 1000 ) {
pulse = map(pulse, 1000, 2000, -500, 500);
pulse = constrain(pulse, -255, 255);
} else {
pulse = 0;
}
// Anything in deadzone should stop the motor
if ( abs(pulse) <= deadzone ) {
pulse = 0;
}
return pulse;
}
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