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#include <TimerThree.h>
//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;
int pwmacc = 1000; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
int PWMval1 = 0; //value of the PWM, means you can enter value from 0 to the value of pwmacc
int PWMval2 = 0;
int PWMval3 = 0;
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);
Timer3.initialize(25); // 800 microseconds or 1.25Hz
Timer3.attachInterrupt(updatePWM);
Serial.begin(9600);
Serial.print("start");
}
void updatePWM() {
//1
static int counter = 0;
if (PWMval1 < 0) {
PWMval1 = 0;
}
if (PWMval1 > pwmacc) {
PWMval1 = pwmacc;
}
if (counter < PWMval1) {
digitalWrite(m1enA, HIGH);
} else {
digitalWrite(m1enA, LOW);
}
counter++;
if (counter >= pwmacc) {
counter = 0;
}
//2
static int counter2 = 0;
if (PWMval2 < 0) {
PWMval2 = 0;
}
if (PWMval2 > pwmacc) {
PWMval2 = pwmacc;
}
if (counter2 < PWMval2) {
digitalWrite(m2enA, HIGH);
} else {
digitalWrite(m2enA, LOW);
}
counter2++;
if (counter2 >= pwmacc) {
counter2 = 0;
}
//3
int static counter3 = 0;
if (PWMval3 < 0) {
PWMval3 = 0;
}
if (PWMval3 > pwmacc) {
PWMval3 = pwmacc;
}
if (counter3 < PWMval3) {
digitalWrite(m3enA, HIGH);
} else {
digitalWrite(m3enA, LOW);
}
counter3++;
if (counter3 >= pwmacc) {
counter3 = 0;
}
}
void drive(int speed, int direction){
//
//!!!
// If the motors are spinning incorectly, change pins not the drive function.
//!!!
//
// 0 = motor off
// + = motor spinning forwards
// - = motor spinning backwards
//
// Motor 1 is the left one.
// Motor 2 is the one in the back.
// Motor 3 is the right one.
//
// Direction............|.Motor 1.|.Motor 2.|.Motor 3.
// 0deg(forward)........|....-....|....0....|....+....
// 60deg................|....0....|....-....|....+....
// 120deg...............|....+....|....-....|....0....
// 180 deg (backward)...|....+....|....0....|....-....
// 240 deg..............|....0....|....+....|....-....
// 300 deg..............|....-....|....+....|....0....
//
PWMval1 = speed;
PWMval2 = speed;
PWMval3 = speed;
digitalWrite(m1enB, LOW);
digitalWrite(m2enB, LOW);
digitalWrite(m3enB, LOW);
Serial.println("debug2");
Serial.println(direction);
if(direction>330 || direction<=30){
//0 deg
Serial.println("0 deg");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, HIGH);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, HIGH);
digitalWrite(m3pwm2, LOW);
}else if (direction>30 && direction <= 90){
//60 deg
Serial.println("60deg");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, HIGH);
digitalWrite(m3pwm1, HIGH);
digitalWrite(m3pwm2, LOW);
}else if (direction>90 && direction <= 150){
//120 deg
Serial.println("120 deg");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, HIGH);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else if (direction > 150 && direction <= 210) {
//180 degrees
Serial.println("on 180");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, HIGH);
}else if (direction > 210 && direction <= 270) {
//240 degrees
Serial.println("240deg");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, HIGH);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, HIGH);
}else if (direction > 270 && direction <= 330) {
//300 degrees
Serial.println("300deg");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, HIGH);
digitalWrite(m2pwm1, HIGH);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else{
Serial.println("how?");
}
}
// the loop routine runs over and over again forever:
void loop() {
drive(600, 0);
Serial.println("ffor");
delay(1500);
}
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