uridone_motor.ino

int chA_dir = 12;
int chA_speed = 3;
int chA_stop = 9;

int chB_dir = 13;
int chB_speed = 11;
int chB_stop = 8;

//speed range : 85 ~ 255
int motor_speed = 100; 
 
void setup() {
  pinMode(chA_dir,OUTPUT);
  pinMode(chA_speed,OUTPUT);
  pinMode(chA_stop,OUTPUT);

  pinMode(chB_dir,OUTPUT);
  pinMode(chB_speed,OUTPUT);
  pinMode(chB_stop,OUTPUT);

  Serial.begin(9600);
  Serial.println("Speed range : 85 ~ 255 ");
  Serial.println("F:forward, B:back, L:left, R:right, S:stop");
  Serial.println("Input method : ex)F85 or f85 ~ F255 or f255");
}

//input method : ex)F100 or f100
void loop() {
  char inByte;

  if(Serial.available()>0)
  {
    inByte = Serial.read();
    motor_speed = Serial.parseInt();
    Serial.print("inByte = ");Serial.println(inByte);
    Serial.print("motor_speed = ");Serial.println(motor_speed);

    if(inByte == 'F' || inByte == 'f') dc_motor_f(motor_speed);
    if(inByte == 'B' || inByte == 'b') dc_motor_b(motor_speed);
    if(inByte == 'L' || inByte == 'l') dc_motor_l(motor_speed);
    if(inByte == 'R' || inByte == 'r') dc_motor_r(motor_speed);
    if(inByte == 'S' || inByte == 's') dc_motor_s();
  }
}

void dc_motor_f(int num)    // 전진
{
   digitalWrite(chA_dir,HIGH);         digitalWrite(chB_dir,HIGH); 
   digitalWrite(chA_stop,LOW);         digitalWrite(chB_stop,LOW);
   analogWrite(chA_speed,num);         analogWrite(chB_speed,num);
}

void dc_motor_b(int num)    // 후진
{
   digitalWrite(chA_dir,LOW);          digitalWrite(chB_dir,LOW); 
   digitalWrite(chA_stop,LOW);         digitalWrite(chB_stop,LOW);
   analogWrite(chA_speed,num);         analogWrite(chB_speed,num);
}

void dc_motor_l(int num)    // 좌회전
{
   digitalWrite(chA_dir,HIGH);         digitalWrite(chB_dir,LOW); 
   digitalWrite(chA_stop,LOW);         digitalWrite(chB_stop,LOW);
   analogWrite(chA_speed,num);         analogWrite(chB_speed,num);
}

void dc_motor_r(int num)    // 우회전
{
   digitalWrite(chA_dir,LOW);          digitalWrite(chB_dir,HIGH); 
   digitalWrite(chA_stop,LOW);         digitalWrite(chB_stop,LOW);
   analogWrite(chA_speed,num);         analogWrite(chB_speed,num);
}

void dc_motor_s()    // 정지
{
   digitalWrite(chA_stop,HIGH);        digitalWrite(chB_stop,HIGH);
}