TB6612FNG Sample Code

/*
Sample Code to run the Sparkfun TB6612FNG 1A Dual Motor Driver using Arduino UNO R3

This code conducts a few simple manoeuvres to illustrate the functions:
  - motorDrive(motorNumber, motorDirection, motorSpeed)
  - motorBrake(motorNumber)
  - motorStop(motorNumber)
  - motorsStandby

//  Connections:
//- Pin 3 ---> PWMA
//- Pin 8 ---> AIN2
//- Pin 11 ---> AIN1
//- Pin 7 ---> STBY
//- Pin 12 ---> BIN1
//- Pin 13 ---> BIN2
//- Pin 5 ---> PWMB

- Motor 1: A01 and A02
- Motor 2: B01 and B02

*/

//Define the Pins

//Motor 1
int pinAIN1 = 11; //Direction
int pinAIN2 = 8; //Direction
int pinPWMA = 3; //Speed

//Motor 2
int pinBIN1 = 12; //Direction
int pinBIN2 = 13; //Direction
int pinPWMB = 5; //Speed

//Standby
int pinSTBY = 7;

//Constants to help remember the parameters
static boolean turnCW = 0;  //for motorDrive function
static boolean turnCCW = 1; //for motorDrive function
static boolean motor1 = 0;  //for motorDrive, motorStop, motorBrake functions
static boolean motor2 = 1;  //for motorDrive, motorStop, motorBrake functions


void setup()
{
//Set the PIN Modes
  pinMode(pinPWMA, OUTPUT);
  pinMode(pinAIN1, OUTPUT);
  pinMode(pinAIN2, OUTPUT);

  pinMode(pinPWMB, OUTPUT);
  pinMode(pinBIN1, OUTPUT);
  pinMode(pinBIN2, OUTPUT);

  pinMode(pinSTBY, OUTPUT);

}

void loop()
{
 
  //Drive both motors CW, full speed
  motorDrive(motor1, turnCW, 255);
  motorDrive(motor2, turnCW, 255);
 
  //Keep driving for 2 secs
  delay(2000);

  //Turn towards motor1: Stop Motor1, slow Motor2
  motorStop(motor1);
  motorDrive(motor2, turnCW, 192);
 
  //Keep turning for 2 secs
  delay(2000);

  //Turn in opposite direction: Stop Motor2, slow Motor1
  motorDrive(motor1, turnCW, 192);
  delay(250);
  motorStop(motor2);

  //Keep turning for 2 secs
  delay(2000);

  //Straighten up
  motorDrive(motor2, turnCW, 192);
  delay(500);
 
  //Put motors into Standby
  motorsStandby();
  delay(1000);
 
  //Do a tight turn towards motor1: Motor2 forward, Motor1 reverse
  motorDrive(motor1, turnCCW, 192);
  motorDrive(motor2, turnCW, 192);
 
  //Keep turning for 2 secs
  delay(2000);
 

  //Apply Brakes, then into Standby
  motorBrake(motor1);
  motorBrake(motor2);
  motorsStandby();

  //Stand still for 5 secs, then we do it all over again...
  delay(5000);

}

void motorDrive(boolean motorNumber, boolean motorDirection, int motorSpeed)
{
  /*
  This Drives a specified motor, in a specific direction, at a specified speed:
    - motorNumber: motor1 or motor2 ---> Motor 1 or Motor 2
    - motorDirection: turnCW or turnCCW ---> clockwise or counter-clockwise
    - motorSpeed: 0 to 255 ---> 0 = stop / 255 = fast
  */

  boolean pinIn1;  //Relates to AIN1 or BIN1 (depending on the motor number specified)

 
//Specify the Direction to turn the motor
  //Clockwise: AIN1/BIN1 = HIGH and AIN2/BIN2 = LOW
  //Counter-Clockwise: AIN1/BIN1 = LOW and AIN2/BIN2 = HIGH
  if (motorDirection == turnCW)
    pinIn1 = HIGH;
  else
    pinIn1 = LOW;

//Select the motor to turn, and set the direction and the speed
  if(motorNumber == motor1)
  {
    digitalWrite(pinAIN1, pinIn1);
    digitalWrite(pinAIN2, !pinIn1);  //This is the opposite of the AIN1
    analogWrite(pinPWMA, motorSpeed);
  }
  else
  {
    digitalWrite(pinBIN1, pinIn1);
    digitalWrite(pinBIN2, !pinIn1);  //This is the opposite of the BIN1
    analogWrite(pinPWMB, motorSpeed);
  }
   
 

//Finally , make sure STBY is disabled - pull it HIGH
  digitalWrite(pinSTBY, HIGH);

}

void motorBrake(boolean motorNumber)
{
/*
This "Short Brake"s the specified motor, by setting speed to zero
*/

  if (motorNumber == motor1)
    analogWrite(pinPWMA, 0);
  else
    analogWrite(pinPWMB, 0);
   
}


void motorStop(boolean motorNumber)
{
  /*
  This stops the specified motor by setting both IN pins to LOW
  */
  if (motorNumber == motor1) {
    digitalWrite(pinAIN1, LOW);
    digitalWrite(pinAIN2, LOW);
  }
  else
  {
    digitalWrite(pinBIN1, LOW);
    digitalWrite(pinBIN2, LOW);
  } 
}


void motorsStandby()
{
  /*
  This puts the motors into Standby Mode
  */
  digitalWrite(pinSTBY, LOW);
}

motorDrive, motorBrake, etc. isn't defined, I'm having issues working around that. Thoughts?

motorDrive, motorBrake, etc. isn't defined, I'm having issues working around that. Thoughts?

For brake() you have to set both input pins HIGH ... that's how the sparkfun library is doing it