Workshop - Motor Driver

motor-driver-example.ino

// Pins
int switchPin = 7;  
const int BIN1 = 8; 
const int BIN2 = 9;
const int PWMB = 10;
const int PWMA = 11; 
const int AIN2 = 12; 
const int AIN1 = 13;

// Parameters
const int driveTime = 20;   
const int turnTime = 8;

// Globals
String botDirection;
String distance;

void setup()
{
  // We use the switch to enable motors
  pinMode(switchPin, INPUT_PULLUP); 

  // Set motor driver pins as output
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(PWMA, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);
  pinMode(PWMB, OUTPUT);
}

void loop()
{
  if(digitalRead(switchPin) == LOW) {

    //*** YOUR ROBOT CODE***
    
    // Turn right
    leftMotor(255);
    rightMotor(0);
    delay(1000);

    // Turn left
    leftMotor(0);
    rightMotor(255);
    delay(1000);

    // Go forward at half speed
    leftMotor(100);
    rightMotor(100);
    delay(1000);

    // Spin in a circle
    leftMotor(-150);
    rightMotor(150);
    delay(1000);

    // Stop
    leftMotor(0);
    rightMotor(0);
    delay(1000);
    
    //*** END YOUR ROBOT CODE ***
  }  
}

// Functions
void rightMotor(int motorSpeed) {
  if (motorSpeed > 0) {                               //if the motor should drive forward (positive speed)
    digitalWrite(AIN1, HIGH);                         //set pin 1 to high
    digitalWrite(AIN2, LOW);                          //set pin 2 to low
  } else if (motorSpeed < 0) {                        //if the motor should drive backward (negative speed)
    digitalWrite(AIN1, LOW);                          //set pin 1 to low
    digitalWrite(AIN2, HIGH);                         //set pin 2 to high
  } else {                                            //if the motor should stop
    digitalWrite(AIN1, LOW);                          //set pin 1 to low
    digitalWrite(AIN2, LOW);                          //set pin 2 to low
  }
  analogWrite(PWMA, abs(motorSpeed));                 //now that the motor direction is set, drive it at the entered speed
}

void leftMotor(int motorSpeed) {                      //function for driving the left motor
  if (motorSpeed > 0) {                               //if the motor should drive forward (positive speed)
    digitalWrite(BIN1, HIGH);                         //set pin 1 to high
    digitalWrite(BIN2, LOW);                          //set pin 2 to low
  } else if (motorSpeed < 0) {                        //if the motor should drive backward (negative speed)
    digitalWrite(BIN1, LOW);                          //set pin 1 to low
    digitalWrite(BIN2, HIGH);                         //set pin 2 to high
  } else {                                            //if the motor should stop
    digitalWrite(BIN1, LOW);                          //set pin 1 to low
    digitalWrite(BIN2, LOW);                          //set pin 2 to low
  }
  analogWrite(PWMB, abs(motorSpeed));                 //now that the motor direction is set, drive it at the entered speed
}