Arduino/MonsterMotorShield/UnoCode

Start Coding

You can find the original example file from Sparkfun here.

Starting Point

The best place to start tweaking the code is the main loop function.

void loop()
{                            
 motorGo(0, CCW, 0);        //Motor1
 motorGo(1, CW,  100);      //Motor2
 delay(2000);               //This delay determines the time(ms) the motor runs for.


 //Turn 1

• The first argument passed to the function motorGo() can be either 0 or 1. It determines which motor on the pins A1:B1 and A2:B2 are being controlled.
• The second argument can be CCW, or CW. Pretty self-explanatory here, it turns the motor Clockwise(CW) or Counter-clockwise(CCW).
• The third argument that is passed to the motorGo() function represent a pwm(pulse width modulation) integer value. This number has to be between 0 and 1023. The higher this number, the faster you motor will turn.

Copy to Arduino IDE

Copy this code over to the Arduino IDE and tweaking things. be an engineer

#define BRAKEVCC 0
#define CW   1
#define CCW  2
#define BRAKEGND 3
#define CS_THRESHOLD 100


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);
 }
}


/*----------------------------
 pmw value has to be < 1023.
 CCW=CounterClockwise
 CW=ClockWise
-----------------------------*/
void loop()
{                            
 motorGo(0, CCW, 0);        //Motor1
 motorGo(1, CW,  100);      //Motor2
 delay(2000);               //This delay determines the time(ms) the motor runs for.


 //Turn 1
 motorGo(0, CW, 600);       // The higher the pwm value, the quicker the car turns
 motorGo(1, CW,  180);      // The higher the pwm value, the sharper the car turns
 delay(1000); 


 motorGo(0, CCW, 0);
 motorGo(1, CW,  100);
 delay(8000);


 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);
}


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);
   }
 }
}