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Copy pathMotor.ino
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Motor.ino
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void forward() {
analogWrite(MOTOR_LEFT_1_PIN , PWM_SPEED);
analogWrite(MOTOR_LEFT_2_PIN , 0);
analogWrite(MOTOR_RIGHT_1_PIN , 0);
analogWrite(MOTOR_RIGHT_2_PIN , PWM_SPEED);
}
void forwardSteer() {
analogWrite(MOTOR_LEFT_1_PIN , rightPWM);
analogWrite(MOTOR_LEFT_2_PIN , 0);
analogWrite(MOTOR_RIGHT_1_PIN , 0);
analogWrite(MOTOR_RIGHT_2_PIN , leftPWM);
}
void reverse() {
analogWrite(MOTOR_LEFT_1_PIN , 0);
analogWrite(MOTOR_LEFT_2_PIN , PWM_SPEED);
analogWrite(MOTOR_RIGHT_1_PIN , PWM_SPEED);
analogWrite(MOTOR_RIGHT_2_PIN , 0);
}
void turnRight() {
analogWrite(MOTOR_LEFT_1_PIN , 0);
analogWrite(MOTOR_LEFT_2_PIN , 0);
analogWrite(MOTOR_RIGHT_1_PIN , 0);
analogWrite(MOTOR_RIGHT_2_PIN , PWM_SPEED);
}
void turnHardRight() {
analogWrite(MOTOR_LEFT_1_PIN , 0);
analogWrite(MOTOR_LEFT_2_PIN , PWM_SPEED);
analogWrite(MOTOR_RIGHT_1_PIN , 0);
analogWrite(MOTOR_RIGHT_2_PIN , PWM_SPEED);
}
void turnLeft() {
analogWrite(MOTOR_LEFT_1_PIN , PWM_SPEED);
analogWrite(MOTOR_LEFT_2_PIN , 0);
analogWrite(MOTOR_RIGHT_1_PIN , 0);
analogWrite(MOTOR_RIGHT_2_PIN , 0);
}
void turnHardLeft() {
analogWrite(MOTOR_LEFT_1_PIN , PWM_SPEED);
analogWrite(MOTOR_LEFT_2_PIN , 0);
analogWrite(MOTOR_RIGHT_1_PIN , PWM_SPEED);
analogWrite(MOTOR_RIGHT_2_PIN , 0);
}
void allStop() {
analogWrite(MOTOR_LEFT_1_PIN , 0);
analogWrite(MOTOR_LEFT_2_PIN , 0);
analogWrite(MOTOR_RIGHT_1_PIN , 0);
analogWrite(MOTOR_RIGHT_2_PIN , 0);
}
/*
* Old motorcontrol
*
*
void forward() {
motor1.rotPos(straightSpeed);
motor2.rotNeg(straightSpeed);
}
void reverse() {
motor1.rotNeg(straightSpeed);
motor2.rotPos(straightSpeed);
}
void turnRight() {
motor1.rotPos(turnSpeed);
motor2.rotPos(turnSpeed);
}
void turnLeft() {
motor1.rotNeg(turnSpeed);
motor2.rotNeg(turnSpeed);
}
void allStop() {
motor1.stop();
motor2.stop();
}
void runmotor() {
if (motorRuns) {
currentMillis = millis();
runmotorfor = currentMillis;
prevMillis = currentMillis;
Serial1.print(currentMillis);
Serial1.print(" ");
Serial1.print(prevMillis);
Serial1.print(" ");
Serial1.println(runmotorfor);
}
}
*/