1 files changed, 125 insertions, 0 deletions
diff --git a/CODE/debug/base_drive/base_drive.ino b/CODE/debug/base_drive/base_drive.ino
new file mode 100644
index 0000000..8c49609
--- /dev/null
+++ b/CODE/debug/base_drive/base_drive.ino
@@ -0,0 +1,125 @@
+//base code for six direction driving
+int led = 13;
+
+int m1enA = 6;
+int m1enB = 5;
+int m1pwm1 = 4;
+int m1pwm2 = 3;
+int m1encoA = 32;
+int m1encoB = 31;
+
+int m2enA = 12;
+int m2enB = 11;
+int m2pwm1 = 9;
+int m2pwm2 = 10;
+int m2encoA = 30;
+int m2encoB = 29;
+
+int m3enA = 27;
+int m3enB = 26;
+int m3pwm1 = 24;
+int m3pwm2 = 25;
+int m3encoA = 28;
+int m3encoB = 23;
+  
+void setup() {
+  pinMode(m1enA, OUTPUT);
+  pinMode(m1enB, OUTPUT);
+  pinMode(m1pwm1, OUTPUT);
+  pinMode(m1pwm2, OUTPUT);
+  
+  pinMode(m2enA, OUTPUT);
+  pinMode(m2enB, OUTPUT);
+  pinMode(m2pwm1, OUTPUT);
+  pinMode(m2pwm2, OUTPUT);
+  
+  pinMode(m3enA, OUTPUT);
+  pinMode(m3enB, OUTPUT);
+  pinMode(m3pwm1, OUTPUT);
+  pinMode(m3pwm2, OUTPUT);
+  Serial.begin(9600);
+  Serial.print("start");
+  
+}
+
+
+void drive(int speed, int direction){
+ //
+ // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
+ // 0deg(forward)........|....0....|....-....|....+....
+ // 60deg................|....+....|....-....|....0....    
+ // 120deg...............|....+....|....0....|....-....
+ // 180 deg (backward)...|....0....|....+....|....-.... 
+ // 240 deg..............|....-....|....+....|....0....
+ // 300 deg..............|....-....|....0....|....+....
+ //
+
+  if(speed<0){
+  speed = -speed;  
+  }
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m2enA, HIGH);
+  digitalWrite(m2enA, HIGH);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m2enB, LOW);
+  digitalWrite(m3enB, LOW);
+  if(direction>330 && direction<=30){
+    //0 deg
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, LOW);
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, HIGH);
+    digitalWrite(m3pwm1, HIGH);
+    digitalWrite(m3pwm2, LOW);
+    
+  }else if (direction>30 && direction <= 90){
+    //60 deg
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, HIGH);
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, LOW);
+  }else if (direction>90 && direction <= 150){
+    //120 deg
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, LOW);
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction > 150 && direction <= 210) {
+    //180 degrees
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, LOW);
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction > 210 && direction <= 270) {
+    //240 degrees
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, HIGH);
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, LOW);
+  }else if (direction > 270 && direction <= 330) {
+    //300 degrees
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, HIGH);
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, LOW);
+    digitalWrite(m3pwm1, HIGH);
+    digitalWrite(m3pwm2, LOW);
+  }else{
+    Serial.println("how?");  
+  }
+}
+
+// the loop routine runs over and over again forever:
+void loop() {
+  drive(255, 120);
+
+  
+}