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First program for 4WD Arduino Robot Kit
// 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);
}
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