1 files changed, 141 insertions, 0 deletions
diff --git a/motordriver/motordriver.ino b/motordriver/motordriver.ino
new file mode 100644
index 0000000..b8918c1
--- /dev/null
+++ b/motordriver/motordriver.ino
@@ -0,0 +1,141 @@
+// motor one
+int enA = 33;
+int in1 = 2;
+int in2 = 3;
+// motor two
+int enB = 36;
+int in3 = 4;
+int in4 = 5;
+// motor three
+int enC = 37;
+int in5 = 8;
+int in6 = 9;
+
+void setup()
+{
+ // set all the motor control pins to outputs
+ pinMode(enA, OUTPUT);
+ pinMode(enB, OUTPUT);
+ pinMode(enC, OUTPUT);
+
+ pinMode(in1, OUTPUT);
+ pinMode(in2, OUTPUT);
+ pinMode(in3, OUTPUT);
+ pinMode(in4, OUTPUT);
+ pinMode(in5, OUTPUT);
+ pinMode(in6, OUTPUT);
+}
+void demoOne()
+{
+// this function will run the motors in both directions at a fixed speed
+ // turn on motor A
+ digitalWrite(in1, HIGH);
+ digitalWrite(in2, LOW);
+ // set speed to 200 out of possible range 0~255
+ analogWrite(enA, 200);
+ // turn on motor B
+ digitalWrite(in3, HIGH);
+ digitalWrite(in4, LOW);
+ // set speed to 200 out of possible range 0~255
+ analogWrite(enB, 200);
+  // turn on motor c
+ digitalWrite(in5, HIGH);
+ digitalWrite(in6, LOW);
+ // set speed to 200 out of possible range 0~255
+ analogWrite(enC, 200);
+ delay(2000);
+ // now change motor directions
+ digitalWrite(in1, LOW);
+ digitalWrite(in2, HIGH);
+ digitalWrite(in3, LOW);
+ digitalWrite(in4, HIGH);
+ digitalWrite(in5, LOW);
+ digitalWrite(in6, HIGH);
+ delay(2000);
+ // now turn off motors
+ digitalWrite(in1, LOW);
+ digitalWrite(in2, LOW);
+ digitalWrite(in3, LOW);
+ digitalWrite(in4, LOW);
+}
+void demoTwo()
+{
+ // this function will run the motors across the range of possible speeds
+ // note that maximum speed is determined by the motor itself and theoperating voltage
+ // the PWM values sent by analogWrite() are fractions of the maximumspeed possible
+ // by your hardware
+ // turn on motors
+ digitalWrite(in1, LOW);
+ digitalWrite(in2, HIGH);
+ digitalWrite(in3, LOW);
+ digitalWrite(in4, HIGH);
+ digitalWrite(in5, LOW);
+ digitalWrite(in6, HIGH);
+ // accelerate from zero to maximum speed
+ for (int i = 0; i < 256; i++)
+ {
+ analogWrite(enA, i);
+ analogWrite(enB, i);
+ analogWrite(enC, i); 
+ delay(20);
+ }
+ // decelerate from maximum speed to zero
+ for (int i = 255; i >= 0; --i)
+ {
+  analogWrite(enA, i);
+  analogWrite(enB, i);
+  analogWrite(enC, i);
+  delay(20);
+ }
+ // now turn off motors
+ digitalWrite(in1, LOW);
+ digitalWrite(in2, LOW);
+ digitalWrite(in3, LOW);
+ digitalWrite(in4, LOW);
+ digitalWrite(in5, LOW);
+ digitalWrite(in6, LOW);
+}
+void forward(speed, direction)
+{
+ // this function will run the motors across the range of possible speeds
+ // note that maximum speed is determined by the motor itself and theoperating voltage
+ // the PWM values sent by analogWrite() are fractions of the maximumspeed possible
+ // by your hardware
+ // turn on motors
+ digitalWrite(in1, LOW);
+ digitalWrite(in2, LOW);
+ digitalWrite(in3, LOW);
+ digitalWrite(in4, LOW);
+ digitalWrite(in5, LOW);
+ digitalWrite(in6, LOW);
+ // accelerate from zero to maximum speed
+ for (int i = 0; i < 256; i++)
+ {
+ analogWrite(enA, i);
+ analogWrite(enB, i);
+ analogWrite(enC, i); 
+ delay(20);
+ }
+ // decelerate from maximum speed to zero
+ for (int i = 255; i >= 0; --i)
+ {
+  analogWrite(enA, i);
+  analogWrite(enB, i);
+  analogWrite(enC, i);
+  delay(20);
+ }
+ // now turn off motors
+ digitalWrite(in1, LOW);
+ digitalWrite(in2, LOW);
+ digitalWrite(in3, LOW);
+ digitalWrite(in4, LOW);
+ digitalWrite(in5, LOW);
+ digitalWrite(in6, LOW);
+}
+void loop()
+{
+ demoOne();
+ delay(1000);
+ demoTwo();
+ delay(1000);
+}