Control motors over serial using an Arduino

close_to_the_body.ino

// 3, 5, 6, 9, 10, and 11
#define MOTOR1 3
#define MOTOR2 5
#define MOTOR3 6
#define MOTOR4 9
#define MOTOR5 10
#define MOTOR6 11

#define MIN_MOTOR_SPEED 40
#define MAX_MOTOR_SPEED 30

#define NUM_MOTORS 6

#define MESSAGE_ID_ALL_MOTORS_ON 6
#define MESSAGE_ID_ALL_MOTORS_OFF 7

int currentMotorId;

int motorPins[] = {
  MOTOR1,
  MOTOR2,
  MOTOR3,
  MOTOR4,
  MOTOR5,
  MOTOR6
};

void setup(){

  Serial.begin(9600);

  for(int i = 0; i < NUM_MOTORS; i++){
    pinMode(motorPins[i], OUTPUT);
  }
  
  // turn everything off when starting
  vibeAll(false);

}

void loop(){
  while(Serial.available() > 0){
    byte val = Serial.read();
    Serial.print("Receiving value from Bluetooth: ");
    Serial.println(val);
    if(val == MESSAGE_ID_ALL_MOTORS_OFF){
      vibeAll(false);
    } else if(val == MESSAGE_ID_ALL_MOTORS_ON){
      vibeAll(true);
    } else if(val < NUM_MOTORS){
      currentMotorId = val;
    } else {
      vibeMotor(currentMotorId, val);
    }
  }

}

void vibeAll(boolean isOn){
  int speed = MAX_MOTOR_SPEED;
  if(!isOn){
    speed = 0;
    Serial.print("Setting all motors off");
  } else {
    Serial.print("Setting all motors on");
  }
  Serial.print("Setting speed of all motors to: ");
  Serial.println(speed);
  for(int i = 0; i < NUM_MOTORS; i++){
    analogWrite(motorPins[i], speed);
  }
}

void vibeMotor(int motorId, unsigned char speed){
    unsigned char speedMapped = map(speed, 10, 255, 0, MAX_MOTOR_SPEED);
    analogWrite(motorPins[motorId], speedMapped);
    Serial.print("Setting motor ");
    Serial.print(motorId);
    Serial.print(" to speed ");
    Serial.println(speedMapped);
}