Here's the Fritzing diagram, showing pins 9 & 10 used since they have the Pulse Width Modulation (PWM) option enabled on them./*
* Project: MotorSpin_621project02_1
* Author: Jane-Maree Howard
* Date: Tuesday 11/10/2011
* Platform: Arduino 22
* Purpose: To demonstrate Serial input motor control
* Operation: Description: The ET-MINI DC-MOTOR board has an H-bridge & a DC motor
- The board's terminals are:
- EN - Enable, must be set at logic "1" for operation.
- IN1- With EN @ "1", IN1 @ "1" rotates the motor to the Right.
- IN2- With EN @ "1", IN2 @ "1" rotates the motor to the Left
- Arduino Libraries: LIB04_KeypressInput; LIB06_PWMmotorSpeed_ETMINI;
- Setup(): Serial @ 9600 baud; Print heading;
- Loop(): Via Serial Monitpr, input a PAIR of characters, e.g. r7, ss, L9;
- Press 'Enter' or 'Send';
- Motor direction & speed range are outputted &..
- ..PWMmotorControl(bRight, bLeft, bEnable, bMotor, bSpeed) operates
- the motor according to instruction-pair;
*/
int iKeyPress = 0; // for incoming serial data
char chInput; // for 'char' parameters
// digital control pins for ET-MINI DC-MOTOR
byte bRight = 10; // IN1 is pin 10 - rotate Right
byte bLeft = 9; // IN2 is pin 9 - rotate Left
byte bEnable = 13; // EN is pin 13 - Enable rotation, must = '1'
byte bMotor = 0; // in LIB06_PWMmotorControl(), '0'=STOP, '1'=RIGHT, '11'=LEFT
byte bSpeed = 0; // in ditto, PWM duty cycle parameter - initialised to "stop"
void setup()
{
Serial.begin(9600); //SM @ 9600 baud
pinMode(bEnable, OUTPUT); // EN - ENable pin on motorboard
pinMode(bRight, OUTPUT); // IN1 - 'RIGHT' pin on motorboard
pinMode(bLeft, OUTPUT); // IN2 - 'LEFT' pin on motorboard
Serial.println("\nEnter your control characters in pairs e.g.: R5, ss");
}//end setup()
void loop()
{
// first input Motor Direction, STOP, RIGHT, or LEFT
iKeyPress = KeypressInput();
if (iKeyPress !=0)
{
Serial.print("\nInput direction\t");
chInput = (char)iKeyPress;
Serial.println(chInput, BYTE);
switch (chInput)
{
case ('s'):
bMotor = 0;
break;
case ('S'):
bMotor = 0;
break;
case ('r'):
bMotor = 1;
break;
case ('R'):
bMotor = 1;
break;
case ('l'):
bMotor = 11;
break;
case ('L'):
bMotor = 11;
break;
default: bMotor = 0;
}//switch()
// now input Motor Speed on a scale of 1-9
iKeyPress = KeypressInput();
Serial.print("Input speed\t");
chInput = (char)iKeyPress;
Serial.println(chInput, BYTE);
switch (chInput)
{
case ('1'):
bSpeed = 50;
break;
case ('2'):
bSpeed = 75;
break;
case ('3'):
bSpeed = 100;
break;
case ('4'):
bSpeed = 125;
break;
case ('5'):
bSpeed = 150;
break;
case ('6'):
bSpeed = 175;
break;
case ('7'):
bSpeed = 200;
break;
case ('8'):
bSpeed = 225;
break;
case ('9'):
bSpeed = 255;
break;
default: bMotor = 0;
}//switch()
}//if()
/* now that control characters have been entered e.g.L7,
call PWMmotorControl with all parameters present
*/
PWMmotorControl(bRight, bLeft, bEnable, bMotor, bSpeed);
}//end loop()
//END
otherwise it will not function.
The direction can be upper or lower case.
The duty cycle (input speed 1-9) can in theory range from 0-255, but in practice, anything < 50 won't fire the motor up.
255 represents 100%, or full-speed.
/*
* Project: LIB06_PWMmotorSpeed_ETMINI
* Author: Jane-Maree Howard
* Date: Tuesday 11/10/2011
* Platform: Arduino 22
* Purpose: To use PWM speed-control for an ET-MINI DC-MOTOR board
* Operation: The ET-MINI DC-MOTOR board has an H-bridge & a DC motor
- The board's terminals are:
- EN - Enable, must be set at logic "1" for operation.
- IN1- With EN @ "1", IN1 @ "1" rotates the motor to the Right.
- IN2- With EN @ "1", IN2 @ "1" rotates the motor to the Left
- Declare: NONE - MUST BE DECLARED IN CONJOINING SKETCH(ES)
- Setup(): NONE - MUST BE USED ONLY IN CONJOINING SKETCH(ES)
- (used only in testing)
- Procedure(): void PWMmotorControl(byte,byte,byte,byte,byte);
- Loop(): NONE - MUST BE USED ONLY IN CONJOINING SKETCH(ES)
- (used only in testing)
*/
// RotateMotor - CALLED IN MAIN SKETCH
void PWMmotorControl(byte bR, byte bL, byte bEN, byte bMO, byte bSPEED)
{
/*
Rotate ET-MINI DC-MOTOR: bR,bL,bEN are Pins; bMO en/dis-ables;
bSPEED takes values 0-255 as part of the PWM duty cycle;
analogWrite() is a PWM operation on a Digital pin,
. & has nothing to do with Analog pins or AnalogRead()
*/
// pause motor to allow change of direction
delay(20); // delay 20 milliseconds
digitalWrite(bEN,1); // write '1' to motorboard pin EN - enable motor
switch (bMO)
{
case 0: // STOP - disable motor
digitalWrite(bEN,0); // write '0' to motorboard pin EN
break;
case 1: // rotate RIGHT @
digitalWrite(bL,0); // write '0' to motorboard pin IN2 - no rotation left
analogWrite(bR,bSPEED); // write to motorboard pin IN1
break;
case 11: // rotate LEFT @
digitalWrite(bR,0); // write '0' to motorboard pin IN1 - no rotation right
analogWrite(bL,bSPEED); // write to motorboard pin IN2
break;
default: // STOP - disable motor
digitalWrite(bEN,0); // write '0' to motorboard pin EN - disable motor
}//switch()case
}//PWMmotorControl()
//END
Go to the following link for the operating software
/*
* Project: LIB04_KeypressInput
* Author: Jane-Maree Howard
* Date: Saturday 08/10/2011
* Platform: Arduino 22
* Purpose: To make a library function for inputting a key-press via Serial comm link
* Operation: Description: inputs a key-press & returns an Integer
.
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