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.<br><br>
  //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);
    }
  }
 }

Arduino/MonsterMotorShield