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// 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 = 7;
int in6 = 6;
int sp = 50;
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()
{
sp = 160;
analogWrite(enA, sp);
analogWrite(enB, sp);
analogWrite(enC, sp);
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);
digitalWrite(in5, LOW);
digitalWrite(in6, LOW);
}
void loop()
{
//demoOne();
//delay(1000);
//demoTwo();
delay(1000);
forward();
}
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