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/* MonsterMoto Shield Example Sketch date: 5/24/11 code by: Jim Lindblom hardware by: Nate Bernstein SparkFun Electronics
License: CC-SA 3.0, feel free to use this code however you'd like. Please improve upon it! Let me know how you've made it better.
This is really simple example code to get you some basic functionality with the MonsterMoto Shield. The MonsterMote uses two VNH2SP30 high-current full-bridge motor drivers.
Use the motorGo(uint8_t motor, uint8_t direct, uint8_t pwm) function to get motors going in either CW, CCW, BRAKEVCC, or BRAKEGND. Use motorOff(int motor) to turn a specific motor off.
The motor variable in each function should be either a 0 or a 1. pwm in the motorGo function should be a value between 0 and 255. */ #define BRAKEVCC 0 #define CW 1 #define CCW 2 #define BRAKEGND 3 #define CS_THRESHOLD 100
/* VNH2SP30 pin definitions xxx[0] controls '1' outputs xxx[1] controls '2' outputs */ int inApin[2] = {7, 4}; // INA: Clockwise input int inBpin[2] = {8, 9}; // INB: Counter-clockwise input int pwmpin[2] = {5, 6}; // PWM input int cspin[2] = {2, 3}; // CS: Current sense ANALOG input int enpin[2] = {0, 1}; // EN: Status of switches output (Analog pin)
int statpin = 13;
void setup() { Serial.begin(9600);
pinMode(statpin, OUTPUT);
// Initialize digital pins as outputs for (int i=0; i<2; i++) { pinMode(inApin[i], OUTPUT); pinMode(inBpin[i], OUTPUT); pinMode(pwmpin[i], OUTPUT); } // Initialize braked for (int i=0; i<2; i++) { digitalWrite(inApin[i], LOW); digitalWrite(inBpin[i], LOW); } // motorGo(0, CW, 1023); // motorGo(1, CCW, 1023); }
void loop() { motorGo(0, CW, 1023); motorGo(1, CCW, 1023); delay(500);
motorGo(0, CCW, 1023); motorGo(1, CW, 1023); delay(500);
if ((analogRead(cspin[0]) < CS_THRESHOLD) && (analogRead(cspin[1]) < CS_THRESHOLD)) digitalWrite(statpin, HIGH); }
void motorOff(int motor) { // Initialize braked for (int i=0; i<2; i++) { digitalWrite(inApin[i], LOW); digitalWrite(inBpin[i], LOW); } analogWrite(pwmpin[motor], 0); }
/* motorGo() will set a motor going in a specific direction the motor will continue going in that direction, at that speed until told to do otherwise.
motor: this should be either 0 or 1, will selet which of the two motors to be controlled
direct: Should be between 0 and 3, with the following result 0: Brake to VCC 1: Clockwise 2: CounterClockwise 3: Brake to GND
pwm: should be a value between ? and 1023, higher the number, the faster it'll go */ void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm) { if (motor <= 1) { if (direct <=4) { // Set inA[motor] if (direct <=1) digitalWrite(inApin[motor], HIGH); else digitalWrite(inApin[motor], LOW);
// Set inB[motor] if ((direct==0)||(direct==2)) digitalWrite(inBpin[motor], HIGH); else digitalWrite(inBpin[motor], LOW);
analogWrite(pwmpin[motor], pwm); } } }