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July 20, 2016 22:38
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/* | |
L9110S_Motor_Driver_Example - Arduino sketch | |
Thank you Banana Robotics for the Bulk of this code. | |
Connections: | |
Arduino digital output D10 to motor driver input B-IA. | |
Arduino digital output D11 to motor driver input B-IB. | |
Motor driver VCC to operating voltage 5V. | |
Motor driver GND to common ground. | |
Motor driver MOTOR B screw terminals to a small motor. | |
*/ | |
// wired connections | |
#define L9110S_B_IA 10 // D10 --> Motor B Input A --> MOTOR B + | |
#define L9110S_B_IB 11 // D11 --> Motor B Input B --> MOTOR B - | |
// functional connections | |
#define MOTOR_B_PWM L9110S_B_IA // Motor B PWM Speed | |
#define MOTOR_B_DIR L9110S_B_IB // Motor B Direction | |
// the actual values for "fast" and "slow" depend on the motor | |
#define PWM_SLOW 50 // arbitrary slow speed PWM duty cycle | |
#define PWM_FAST 200 // arbitrary fast speed PWM duty cycle | |
#define DIR_DELAY 1000 // brief delay for abrupt motor changes | |
void setup() | |
{ | |
Serial.begin( 9600 ); | |
pinMode( MOTOR_B_DIR, OUTPUT ); | |
pinMode( MOTOR_B_PWM, OUTPUT ); | |
digitalWrite( MOTOR_B_DIR, LOW ); | |
digitalWrite( MOTOR_B_PWM, LOW ); | |
} | |
void loop() | |
{ | |
boolean isValidInput; | |
// draw a menu on the serial port | |
Serial.println( "-----------------------------" ); | |
Serial.println( "MENU:" ); | |
Serial.println( "1) Fast forward" ); | |
Serial.println( "2) Forward" ); | |
Serial.println( "3) Soft stop (coast)" ); | |
Serial.println( "4) Reverse" ); | |
Serial.println( "5) Fast reverse" ); | |
Serial.println( "6) Hard stop (brake)" ); | |
Serial.println( "-----------------------------" ); | |
do | |
{ | |
byte c; | |
// get the next character from the serial port | |
Serial.print( "?" ); | |
while( !Serial.available() ) | |
; // LOOP... | |
c = Serial.read(); | |
// execute the menu option based on the character recieved | |
switch( c ) | |
{ | |
case '1': // 1) Fast forward | |
Serial.println( "Fast forward..." ); | |
// always stop motors briefly before abrupt changes | |
digitalWrite( MOTOR_B_DIR, LOW ); | |
digitalWrite( MOTOR_B_PWM, LOW ); | |
delay( DIR_DELAY ); | |
// set the motor speed and direction | |
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward | |
analogWrite( MOTOR_B_PWM, 255-PWM_FAST ); // PWM speed = fast | |
isValidInput = true; | |
break; | |
case '2': // 2) Forward | |
Serial.println( "Forward..." ); | |
// always stop motors briefly before abrupt changes | |
digitalWrite( MOTOR_B_DIR, LOW ); | |
digitalWrite( MOTOR_B_PWM, LOW ); | |
delay( DIR_DELAY ); | |
// set the motor speed and direction | |
digitalWrite( MOTOR_B_DIR, HIGH ); // direction = forward | |
analogWrite( MOTOR_B_PWM, 255-PWM_SLOW ); // PWM speed = slow | |
isValidInput = true; | |
break; | |
case '3': // 3) Soft stop (preferred) | |
Serial.println( "Soft stop (coast)..." ); | |
digitalWrite( MOTOR_B_DIR, LOW ); | |
digitalWrite( MOTOR_B_PWM, LOW ); | |
isValidInput = true; | |
break; | |
case '4': // 4) Reverse | |
Serial.println( "Fast forward..." ); | |
// always stop motors briefly before abrupt changes | |
digitalWrite( MOTOR_B_DIR, LOW ); | |
digitalWrite( MOTOR_B_PWM, LOW ); | |
delay( DIR_DELAY ); | |
// set the motor speed and direction | |
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse | |
analogWrite( MOTOR_B_PWM, PWM_SLOW ); // PWM speed = slow | |
isValidInput = true; | |
break; | |
case '5': // 5) Fast reverse | |
Serial.println( "Fast forward..." ); | |
// always stop motors briefly before abrupt changes | |
digitalWrite( MOTOR_B_DIR, LOW ); | |
digitalWrite( MOTOR_B_PWM, LOW ); | |
delay( DIR_DELAY ); | |
// set the motor speed and direction | |
digitalWrite( MOTOR_B_DIR, LOW ); // direction = reverse | |
analogWrite( MOTOR_B_PWM, PWM_FAST ); // PWM speed = fast | |
isValidInput = true; | |
break; | |
case '6': // 6) Hard stop (use with caution) | |
Serial.println( "Hard stop (brake)..." ); | |
digitalWrite( MOTOR_B_DIR, HIGH ); | |
digitalWrite( MOTOR_B_PWM, HIGH ); | |
isValidInput = true; | |
break; | |
default: | |
// wrong character! display the menu again! | |
isValidInput = false; | |
break; | |
} | |
} while( isValidInput == true ); | |
// repeat the main loop and redraw the menu... | |
} |
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