challenge-bot.com Git - challenge-bot/blob - phase1/phase1.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   Motor.
  17   Runs both motors back and forth.
  18
  19   This example code is in the public domain.
  20  */
  21
  22 // Pin 13 has an LED connected on most Arduino boards.
  23 // give it a name:
  24 int led = 13;
  25 int motor1_enable = 10;
  26 int motor1a = 9;
  27 int motor1b = 8;
  28 int motor2_enable = 3;
  29 int motor2a = 4;
  30 int motor2b = 5;
  31
  32 // the setup routine runs once when you press reset:
  33 void setup() {
  34   // initialize the digital pin as an output.
  35   pinMode(led, OUTPUT);
  36   pinMode(motor1_enable, OUTPUT);
  37   pinMode(motor1a, OUTPUT);
  38   pinMode(motor1b, OUTPUT);
  39   pinMode(motor2_enable, OUTPUT);
  40   pinMode(motor2a, OUTPUT);
  41   pinMode(motor2b, OUTPUT);
  42
  43   digitalWrite(led, HIGH);
  44   digitalWrite(motor1_enable, LOW);
  45   digitalWrite(motor1a, LOW);
  46   digitalWrite(motor1b, LOW);
  47   digitalWrite(motor2_enable, LOW);
  48   digitalWrite(motor2a, LOW);
  49   digitalWrite(motor2b, LOW);
  50 }
  51
  52 void motorsRun(int left, int right, int ms_delay) {
  53   // Set left motor direction:
  54   if (left > 0) {
  55     // Set left motor to go forward:
  56     digitalWrite(motor1a, HIGH);
  57     digitalWrite(motor1b, LOW);
  58   } else {
  59     // Set left motor to go backward:
  60     digitalWrite(motor1a, LOW);
  61     digitalWrite(motor1b, HIGH);
  62     left = -left;                   // Make left a positive value:
  63   }
  64
  65   analogWrite(motor2_enable, left); // Start motor in right direction
  66   // Set left motor direction:
  67   if (right > 0) {
  68     // Set right motor to go forward:
  69     digitalWrite(motor2a, HIGH);
  70     digitalWrite(motor2b, LOW);
  71   } else {
  72     // Set right motor to go backward:
  73     digitalWrite(motor2a, LOW);
  74     digitalWrite(motor2b, HIGH);
  75     right = -right;                 // Make right a positive value:
  76   }
  77   analogWrite(motor1_enable, left); // Start motor in right direction
  78
  79   delay(ms_delay);                  // Wait the specified amount of time
  80
  81   // Stop both motors:
  82   analogWrite(motor1_enable, 0);
  83   analogWrite(motor2_enable, 0);
  84 }
  85
  86 // the loop routine runs over and over again forever:
  87 void loop() {
  88
  89   digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
  90   motorsRun(100, 100, 2000);// Run the robot forward
  91   digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
  92   motorsRun(-100, -100, 2000); // Run the robot backward
  93 }