challenge-bot.com Git - challenge-bot/blob - build-stages/f_untethered/f_untethered.ino

   1 /*
   2  This program is free software: you can redistribute it and/or modify
   3     it under the terms of the GNU Affero General Public License as
   4     published by the Free Software Foundation, either version 3 of the
   5     License, or (at your option) any later version.
   6
   7     This program is distributed in the hope that it will be useful,
   8     but WITHOUT ANY WARRANTY; without even the implied warranty of
   9     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  10     GNU Affero General Public License for more details.
  11
  12     You should have received a copy of the GNU Affero General Public License
  13     along with this program.  If not, see <http://www.gnu.org/licenses/>.
  14  */
  15
  16 // define which pins are connected to which components
  17 // blue wire
  18 int right_motor_forward_pin = 3;
  19 // orange wire
  20 int right_motor_backward_pin = 4;
  21 // white wire
  22 int right_motor_speed_pin = 5;
  23
  24 // blue wire
  25 int left_motor_forward_pin = 8;
  26 // orange wire
  27 int left_motor_backward_pin = 9;
  28 // white wire
  29 int left_motor_speed_pin = 10;
  30
  31 void on(int pin){
  32   digitalWrite(pin, HIGH);}
  33
  34 void off(int pin){
  35   digitalWrite(pin, LOW);}
  36
  37 void setup(){
  38   // the arduino will change the voltage on these pins
  39   //  therefore, these pins are OUTPUT pins
  40   pinMode(right_motor_speed_pin, OUTPUT);
  41   pinMode(right_motor_forward_pin, OUTPUT);
  42   pinMode(right_motor_backward_pin, OUTPUT);
  43
  44   pinMode(left_motor_speed_pin, OUTPUT);
  45   pinMode(left_motor_forward_pin, OUTPUT);
  46   pinMode(left_motor_backward_pin, OUTPUT);}
  47
  48 void loop(){
  49   off(right_motor_backward_pin);
  50   on(right_motor_forward_pin);
  51   analogWrite(right_motor_speed_pin, 255);
  52
  53   off(left_motor_backward_pin);
  54   on(left_motor_forward_pin);
  55   analogWrite(left_motor_speed_pin, 255);}