First program for 4WD Arduino Robot Kit

4wd-robot-test.ino

// Motor A pins (enableA = enable motor, pinA1 = forward, pinA2 = backward)
int enableA = 11;
int pinA1 = 6;
int pinA2 = 5;

//Motor B pins (enabledB = enable motor, pinB2 = forward, pinB2 = backward)
int enableB = 10;
int pinB1 = 4;
int pinB2 = 3;

//This lets you run the loop a single time for testing
boolean run = true;

void setup() {
 pinMode(enableA, OUTPUT);
 pinMode(pinA1, OUTPUT);
 pinMode(pinA2, OUTPUT);
 
 pinMode(enableB, OUTPUT);
 pinMode(pinB1, OUTPUT);
 pinMode(pinB2, OUTPUT);
}
void loop() {
  if (run) {
    delay(2000);
    enableMotors();
    //Go forward
    forward(200);
    //Go backward
    backward(200);
    //Turn left
    turnLeft(400);
    coast(200);
    //Turn right
    turnRight(400);
    coast(200);
    //This stops the loop
    run = false; 
  }
}

//Define high-level H-bridge commands
 
void enableMotors()
{
 motorAOn();
 motorBOn();
}
 
void disableMotors()
{
 motorAOff();
 motorBOff();
}
 
void forward(int time)
{
 motorAForward();
 motorBForward();
 delay(time);
}
 
void backward(int time)
{
 motorABackward();
 motorBBackward();
 delay(time);
}
 
void turnLeft(int time)
{
 motorABackward();
 motorBForward();
 delay(time);
}
 
void turnRight(int time)
{
 motorAForward();
 motorBBackward();
 delay(time);
}
 
void coast(int time)
{
 motorACoast();
 motorBCoast();
 delay(time);
}
 
void brake(int time)
{
 motorABrake();
 motorBBrake();
 delay(time);
}
//Define low-level H-bridge commands
 
//enable motors
void motorAOn()
{
 digitalWrite(enableA, HIGH);
}
 
void motorBOn()
{
 digitalWrite(enableB, HIGH);
}
 
 //disable motors
void motorAOff()
{
 digitalWrite(enableB, LOW);
}
 
void motorBOff()
{
 digitalWrite(enableA, LOW);
}
 
 //motor A controls
void motorAForward()
{
 digitalWrite(pinA1, HIGH);
 digitalWrite(pinA2, LOW);
}
 
void motorABackward()
{
 digitalWrite(pinA1, LOW);
 digitalWrite(pinA2, HIGH);
}
 
//motor B controls
void motorBForward()
{
 digitalWrite(pinB1, HIGH);
 digitalWrite(pinB2, LOW);
}
 
void motorBBackward()
{
 digitalWrite(pinB1, LOW);
 digitalWrite(pinB2, HIGH);
}
 
//coasting and braking
void motorACoast()
{
 digitalWrite(pinA1, LOW);
 digitalWrite(pinA2, LOW);
}
 
void motorABrake()
{
 digitalWrite(pinA1, HIGH);
 digitalWrite(pinA2, HIGH);
}
 
void motorBCoast()
{
 digitalWrite(pinB1, LOW);
 digitalWrite(pinB2, LOW);
}
 
void motorBBrake()
{
 digitalWrite(pinB1, HIGH);
 digitalWrite(pinB2, HIGH);
}