// connect motor controller pins to Arduino digital pins
// motor one
int enA = 10;
int in1 = 9;
int in2 = 8;
// motor two
int enB = 5;
int in3 = 7;
int in4 = 6;
void setup()
{
// set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
Serial.begin(115200); //initial the Serial
}
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);
delay(2000);
// now change motor directions
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, 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 the operating voltage
// the PWM values sent by analogWrite() are fractions of the maximum speed possible
// by your hardware
// turn on motors
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
// accelerate from zero to maximum speed
for (int i = 0; i < 256; i++)
{
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// decelerate from maximum speed to zero
for (int i = 255; i >= 0; --i)
{
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void go() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
// set speed to 200 out of possible range 0~255
analogWrite(enA, 255);
// turn on motor B
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
// set speed to 200 out of possible range 0~255
analogWrite(enB, 255);
delay(2000);
}
void stopA() {
// now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void goR() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(enA, 255);
delay(1000);
}
void goL() {
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(enB, 255);
delay(1000);
}
void loop()
{
if (Serial.available()) {
byte cmd = Serial.read();
// Serial.write(Serial.read());//send what has been received
if (cmd == 0x55) {
go();
} else if (cmd == 0x44) {
stopA();
} else if (cmd == 0x52) {
goR();
} else if (cmd == 0x4C) {
goL();
}
}
}
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