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Code 4

This document describes an Arduino code for controlling two DC motors using a Pololu TB6612FNG motor controller. It defines pin connections and functions for initializing the motors, driving them forward or reverse at variable speeds using PWM, and braking. The code tests driving and braking the motors forward and reverse in a loop.

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Ayoub Halla
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56 views

Code 4

This document describes an Arduino code for controlling two DC motors using a Pololu TB6612FNG motor controller. It defines pin connections and functions for initializing the motors, driving them forward or reverse at variable speeds using PWM, and braking. The code tests driving and braking the motors forward and reverse in a loop.

Uploaded by

Ayoub Halla
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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/*
* Robot_SimpleMotorDrive
*
* Adafruit Feather M4 using Pololu TB6612FNG motor controller
*
* Motor Control Table
* XIN1 XIN2 Effect
* Low Low Brake
* Low High Forward
* High Low Reverse
*
* Free to use for all
* F Milburn, January 2020
*/
// Pins used to control motors
const uint16_t PWMA = 5; // Motor A PWM control Orange
const uint16_t AIN2 = 6; // Motor A input 2 Brown
const uint16_t AIN1 = 9; // Motor A input 1 Green
const uint16_t BIN1 = 10; // Motor B input 1 Yellow
const uint16_t BIN2 = 11; // Motor B input 2 Purple
const uint16_t PWMB = 12; // Motor B PWM control White
const uint16_t STBY = 13; // Standby Brown
// Constants
const uint16_t ANALOG_WRITE_BITS = 8;
const uint16_t MAX_PWM = pow(2, ANALOG_WRITE_BITS);
const uint16_t MIN_PWM = MAX_PWM / 3; // Make sure motor turns
void setup(){
initMotors();
}
void loop(){
uint16_t pwm = 0;
// test forward
for (pwm = MIN_PWM; pwm <= MAX_PWM; pwm += 20){
forwardA(pwm);
forwardB(pwm);
delay(2000);
}
// brake
brakeA();
brakeB();
delay(500);
// test reverse(){
for (pwm = MIN_PWM; pwm <= MAX_PWM; pwm += 20){
reverseA(pwm);
reverseB(pwm);
delay(2000);
}
// brake
brakeA();
brakeB();
delay(500);
}
void forwardA(uint16_t pwm){
digitalWrite(AIN1, LOW);
digitalWrite(AIN2, HIGH);
if (pwm > MAX_PWM){
pwm = MAX_PWM;
}
if (pwm < MIN_PWM){
pwm = MIN_PWM;
}
analogWrite(PWMA, pwm);
}
void forwardB(uint16_t pwm){
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, HIGH);
if (pwm > MAX_PWM){
pwm = MAX_PWM;
}
if (pwm < MIN_PWM){
pwm = MIN_PWM;
}
analogWrite(PWMB, pwm);
}
void reverseA(uint16_t pwm){
digitalWrite(AIN1, HIGH);
digitalWrite(AIN2, LOW);
if (pwm > MAX_PWM){
pwm = MAX_PWM;
}
if (pwm < MIN_PWM){
pwm = MIN_PWM;
}
analogWrite(PWMA, pwm);
}
void reverseB(uint16_t pwm){
digitalWrite(BIN1, HIGH);
digitalWrite(BIN2, LOW);
if (pwm > MAX_PWM){
pwm = MAX_PWM;
}
if (pwm < MIN_PWM){
pwm = MIN_PWM;
}
analogWrite(PWMB, pwm);
}
void brakeA(){
digitalWrite(AIN1, LOW);
digitalWrite(AIN2, LOW);
}
void brakeB(){
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, LOW);
}
void standbyMotors(bool standby){
if (standby == true){
digitalWrite(STBY, LOW);
}
else{
digitalWrite(STBY, HIGH);
}
}
void initMotors(){
pinMode(AIN1, OUTPUT);
pinMode(AIN2, OUTPUT);
pinMode(PWMA, OUTPUT);
pinMode(BIN1, OUTPUT);
pinMode(BIN2, OUTPUT);
pinMode(PWMB, OUTPUT);
pinMode(STBY, OUTPUT);
analogWriteResolution(ANALOG_WRITE_BITS);
standbyMotors(false);
}

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