l298.ino

#include <stdint.h>

#define left_motor_forward() digitalWrite(M1A,HIGH); digitalWrite(M1B,HIGH);
#define left_motor_backward() digitalWrite(M1A,LOW); digitalWrite(M1B,LOW);

#define right_motor_forward() digitalWrite(M2A,LOW); digitalWrite(M2B,LOW);
#define right_motor_backward() digitalWrite(M2A,HIGH); digitalWrite(M2B,HIGH);


#define EN1A 9
#define M1A  8
#define EN1B 3
#define M1B  2
#define EN2A 4
#define M2A  5
#define EN2B 7
#define M2B  6
#define C1 A0
#define C2 A1

void setup()
{

    pinMode(EN1A,OUTPUT);
    pinMode( M1A,OUTPUT);
    pinMode(EN1B,OUTPUT);
    pinMode( M1B,OUTPUT);
    pinMode(EN2A,OUTPUT);
    pinMode( M2A,OUTPUT);
    pinMode(EN2B,OUTPUT);
    pinMode( M2B,OUTPUT);
    
    Serial.begin(9600);
}


struct ret
    {
    
    uint8_t c_1;  //current one
    uint8_t c_2;  //current two
    //quadrature encoder data can come in here
    //accelerometer data?
    };
static struct ret *fwd_val;
static struct ret *stp_val;
static struct ret *rvs_val;

uint8_t forward()
  {
      struct ret ret_val;
      fwd_val = &ret_val;
      digitalWrite(M1A,HIGH); //right wheel channel 1
      digitalWrite(M1B,HIGH); //right wheel channel 2
      digitalWrite(EN1A,HIGH); //right enable channel 1
      digitalWrite(EN1B,HIGH); //right enable channel 2
      digitalWrite(M2A,LOW);   //left wheel channel 1
      digitalWrite(M2B,LOW);   //left wheel channel 2
      digitalWrite(EN2A,HIGH); //left enable channel 1
      digitalWrite(EN2B,HIGH); //left enable channel 2
      fwd_val->c_1 = analogRead(C1);
      fwd_val->c_2 = analogRead(C2); // check current for both wheels
  
      return (0);
  }
 
uint8_t stop()
  {
      struct ret ret_val;
      stp_val = &ret_val;
      digitalWrite(EN1A,LOW);  //brake -roll-to-stop
      digitalWrite(EN1B,LOW); //brake  -roll-to-stop right
      digitalWrite(EN2A,LOW);  //brake -roll-to-stop left
      digitalWrite(EN2B,LOW); //brake  -roll-to-stop left
      stp_val->c_1 = analogRead(C1);
      stp_val->c_2 = analogRead(C2); // check current for both wheels
      return (0);
  }
  
  
uint8_t reverse()
  {
      struct ret ret_val;
      rvs_val = &ret_val;
      //right wheel channel 1
      digitalWrite(M1A,LOW); //right wheel channel 1
      digitalWrite(M1B,LOW); //right wheel channel 2
      digitalWrite(EN1A,HIGH); //right enable channel 1
      digitalWrite(EN1B,HIGH); //right enable channel 2
      digitalWrite(M2A,HIGH);   //left wheel channel 1
      digitalWrite(M2B,HIGH);   //left wheel channel 2
      digitalWrite(EN2A,HIGH); //left enable channel 1
      digitalWrite(EN2B,HIGH); //left enable channel 2
      Serial.println(analogRead(C1)); // check current for right wheel
      Serial.println(analogRead(C2)); // check current for left  wheel
      rvs_val->c_1 = analogRead(C1);
      rvs_val->c_2 = analogRead(C2); // check current for both wheels
      return (0);
}

void loop()
{
    
    forward();
      Serial.print("C_2 ");
      Serial.print(fwd_val->c_1);
      Serial.print("C_1");
      Serial.print(fwd_val->c_2);  

}