• 목록
• 답변
• 게시판 리스트 옵션
  • 수정
  • 삭제

// Motor A, Left Side
const uint8_t pwmLeft = 9;      // ENA - Enable and PWM
const uint8_t leftForward = 7;  // IN1 - Forward Drive
const uint8_t leftReverse = 6;  // IN2 - Reverse Drive
 
// Motor B, Right Side
const uint8_t pwmRight = 3;    // ENB - Enable and PWM
const uint8_t rightForward = 5; // IN3 - Forward Drive
const uint8_t rightReverse = 4; // IN4 - Reverse Drive
 
//////////////// Start Functions //////////////////
 
// All Stop
void allStop() {
  digitalWrite(leftForward, LOW);
  digitalWrite(leftReverse, LOW);
  digitalWrite(rightForward, LOW);
  digitalWrite(rightReverse, LOW);
  analogWrite(pwmLeft, 0);
  analogWrite(pwmRight, 0);
}
 
void allForward() {
  digitalWrite(leftForward, HIGH);
  digitalWrite(leftReverse, LOW);
  digitalWrite(rightForward, HIGH);
  digitalWrite(rightReverse, LOW);
  analogWrite(pwmLeft, 255);
  analogWrite(pwmRight, 255);
}
 
void allReverse() {
  digitalWrite(leftForward, LOW);
  digitalWrite(leftReverse, HIGH);
  digitalWrite(rightForward, LOW);
  digitalWrite(rightReverse, HIGH);
  analogWrite(pwmLeft, 255);
  analogWrite(pwmRight, 255);
}
 
void skidsteerLeft() {
  digitalWrite(leftForward, LOW);
  digitalWrite(leftReverse, HIGH);
  digitalWrite(rightForward, HIGH);
  digitalWrite(rightReverse, LOW);
  analogWrite(pwmLeft, 255);
  analogWrite(pwmRight, 255);
}
 
void skidsteerRight() {
  digitalWrite(leftForward, HIGH);
  digitalWrite(leftReverse, LOW);
  digitalWrite(rightForward, LOW);
  digitalWrite(rightReverse, HIGH);
  analogWrite(pwmLeft, 255);
  analogWrite(pwmRight, 255);
}
 
//////////////// End Functions //////////////////
 
void setup() {
  // Set pins to motor driver (L298) to outputs
  pinMode(pwmLeft, OUTPUT);
  pinMode(leftForward, OUTPUT);
  pinMode(leftReverse, OUTPUT);
  pinMode(pwmRight, OUTPUT);
  pinMode(rightForward, OUTPUT);
  pinMode(rightReverse, OUTPUT);
}
 
void loop() {
  allStop();  // Stop all dc motors
  delay(1000);
  allForward(); // Drive dc motors forward
  delay(2000);
  allReverse(); // Drive dc motors in reverse
  delay(2000);
  skidsteerLeft();  // Skidsteer spin left direction
  delay(2000);
  skidsteerRight(); // Skidsteer spin right direction
  delay(2000);
}