Created
May 11, 2020 15:02
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quick and dirty L298N motor control for arduino
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| #define MOTOR1_CW 3 | |
| #define MOTOR1_CCW 5 | |
| #define MOTOR2_CW 6 | |
| #define MOTOR2_CCW 9 | |
| #define STATE_MOTOR 0 | |
| #define STATE_DIRECTION 1 | |
| #define STATE_SPEED 2 | |
| #define BUFFER_SIZE 10 | |
| typedef unsigned char u8_t; | |
| u8_t buffer[BUFFER_SIZE]; | |
| u8_t buffer_pos = 0; | |
| u8_t motor; | |
| u8_t direction; | |
| u8_t speed; | |
| u8_t state = STATE_MOTOR; | |
| void setup() { | |
| pinMode(MOTOR1_CW, OUTPUT); | |
| pinMode(MOTOR1_CCW, OUTPUT); | |
| pinMode(MOTOR2_CW, OUTPUT); | |
| pinMode(MOTOR2_CCW, OUTPUT); | |
| Serial.begin(9600); | |
| } | |
| void loop() { | |
| u8_t input; | |
| while(Serial.available() < 1); | |
| Serial.println(F("Process")); | |
| input = Serial.read(); | |
| if(',' == input || '\n' == input) { | |
| Serial.println(F("found delimiter")); | |
| switch(state) | |
| { | |
| case STATE_MOTOR: | |
| Serial.println(F("case motor")); | |
| motor = atoi(buffer); | |
| Serial.print(F("Motor=")); | |
| Serial.println(motor); | |
| memset(buffer, 0, BUFFER_SIZE); | |
| buffer_pos = 0; | |
| state = STATE_DIRECTION; | |
| return; | |
| case STATE_DIRECTION: | |
| Serial.println(F("case direction")); | |
| direction = atoi(buffer); | |
| Serial.print(F("Direction=")); | |
| Serial.println(direction); | |
| memset(buffer, 0, BUFFER_SIZE); | |
| buffer_pos = 0; | |
| state = STATE_SPEED; | |
| return; | |
| case STATE_SPEED: | |
| Serial.println(F("case speed")); | |
| speed = atoi(buffer); | |
| Serial.print(F("Speed=")); | |
| Serial.println(speed); | |
| memset(buffer, 0, BUFFER_SIZE); | |
| buffer_pos = 0; | |
| state = STATE_MOTOR; | |
| //update | |
| Serial.println(F("update pins")); | |
| if(motor == 1 && direction == 1) {analogWrite(MOTOR1_CW, speed); analogWrite(MOTOR1_CCW, 0);} | |
| if(motor == 1 && direction == 2) {analogWrite(MOTOR1_CCW, speed); analogWrite(MOTOR1_CW, 0);} | |
| if(motor == 2 && direction == 1) {analogWrite(MOTOR2_CW, speed); analogWrite(MOTOR2_CCW, 0);} | |
| if(motor == 2 && direction == 2) {analogWrite(MOTOR2_CCW, speed); analogWrite(MOTOR2_CW, 0);} | |
| return; | |
| } | |
| } | |
| else | |
| { | |
| Serial.print(F("append to buffer:")); | |
| Serial.println(input); | |
| buffer[buffer_pos++] = input; | |
| } | |
| } |
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