Category: Informative

// setting motor pins as variables. This gives us a name rather than number which is easier to work with.
// Motor 1
int motorafb = 2; // Motor A on pin 2- forward/backwards 
int motorab = 4; // Motor A on pin 4 - brake
int motorahs = 5; // Motor A on pin 5 - Speed
int motorbfb = 7; // Motor B on pin 7 - forward/backwards 
int motorbb = 8; // Motor B on pin 8 - brake
int motorbhs = 6; // Motor B on pin 6 - Speed
 
void setup() {
 
  //Setup Motor A
  pinMode(motorafb, OUTPUT); //Initiates Motor  A pin
  pinMode(motorab, OUTPUT); //Initiates Brake  A pin
 
  //Setup Motor B
  pinMode(motorbfb, OUTPUT); //Initiates Motor B pin
  pinMode(motorbb, OUTPUT);  //Initiates Brake B pin
  }
void loop(){
// both motors full speed
  //Motor A 
  digitalWrite(motorafb, HIGH); //Establishes forward direction of Motor A
  digitalWrite(motorab, LOW);   //Disengage the Brake for Motor A
  analogWrite(motorahs, 255);   //Spins the motor on Motor A at full speed
 
  //Motor B 
  digitalWrite(motorbfb, HIGH);  //Establishes Forward direction of Motor B
  digitalWrite(motorbb, LOW);   //Disengage the Brake for Motor B
  analogWrite(motorbhs, 255);    //Spins the motor on Motor B at half speed
 
  // Wait 500ms (it will continue to drive during that 500ms)
  delay(500);
 
  // Turn by turning one motor forward, and one backward at half speed
  digitalWrite(motorafb, LOW);  //Establishes backward direction of Motor A
  digitalWrite(motorab, LOW);   //Disengage the Brake for Motor A
  analogWrite(motorahs, 155);    //Spins the motor on Motor A at half speed
 
  //Motor B forward @ full speed
  digitalWrite(motorbfb, HIGH); //Establishes forward direction of Motor B
  digitalWrite(motorbb, LOW);   //Disengage the Brake for Motor B
  analogWrite(motorbhs, 255);   //Spins the motor on Motor B at full speed
 
  // Another delay to let it turn fo 500ms
  delay(500);
 
 // STOP!  
  digitalWrite(motorab, HIGH);  //Engage the Brake for Motor A
  digitalWrite(motorbb, HIGH);  //Engage the Brake for Motor B
  analogWrite(motorahs, 0); // Set speed to 0
  analogWrite(motorbhs, 0);// Set speed to 0
}

// We are using the RedBot library for the accelerometer code
#include <RedBot.h>
RedBotAccel xl;
 
// setting motor pins as variables
int motorafb = 2;
int motorab = 4;
int motorahs = 5;
int motorbfb = 7;
int motorbb = 8;
int motorbhs = 6;
 
void setup() {
 
  //Setup Motor Channel A
  pinMode(motorafb, OUTPUT); //Initiates  pin
  pinMode(motorab, OUTPUT); //Initiates Brake Motor Channel A pin
 
  //Setup Motor Channel B
  pinMode(motorbfb, OUTPUT); //Initiates  pin
  pinMode(motorbb, OUTPUT);  //Initiates Brake Motor Channel A pin
 
// This is the bit to enable the accelerometer using the RedBot library
  xl.enableBump();
  xl.setBumpThresh(70);
}
 
void loop(){
// this if statement checks to see if its been bumped, and if it has, it runs the commands inside the {}
 if (xl.checkBump()) { 
 
  digitalWrite(motorab, HIGH);  //Engage the Brake for Motor Channel A
  digitalWrite(motorbb, HIGH);  //Engage the Brake for Motor Channel B
  delay(500);
   //Motor A reversing @ full speed
  digitalWrite(motorafb, LOW);  //Establishes backward direction of Motor Channel A
  digitalWrite(motorab, LOW);   //Disengage the Brake for Motor Channel A
  analogWrite(motorahs, 255);    //Spins the motor on Motor Channel A at half speed
 
  //Motor B reversing @ full speed
  digitalWrite(motorbfb, LOW); //Establishes forward direction of Motor Channel B
  digitalWrite(motorbb, LOW);   //Disengage the Brake for Motor Channel B
  analogWrite(motorbhs, 255);   //Spins the motor on Motor Channel B at full speed
 
  delay(1000);
 
   //Motor A reversing @ half speed
  digitalWrite(motorafb, LOW);  //Establishes backward direction of Motor Channel A
  digitalWrite(motorab, LOW);   //Disengage the Brake for Motor Channel A
  analogWrite(motorahs, 155);    //Spins the motor on Motor Channel A at half speed
 
  //Motor B forward @ full speed
  digitalWrite(motorbfb, HIGH); //Establishes forward direction of Motor Channel B
  digitalWrite(motorbb, LOW);   //Disengage the Brake for Motor Channel B
  analogWrite(motorbhs, 255);   //Spins the motor on Motor Channel B at full speed
 
  delay(500);
 
 } else // This is what happens if nothing has been bumped into
 {
  // both motors full speed
  //Motor A forward @ full speed
  digitalWrite(motorafb, HIGH); //Establishes forward direction of Motor Channel A
  digitalWrite(motorab, LOW);   //Disengage the Brake for Motor Channel A
  analogWrite(motorahs, 255);   //Spins the motor on Motor Channel A at full speed
 
  //Motor B foward @ full speed
  digitalWrite(motorbfb, HIGH);  //Establishes backward direction of Motor Channel B
  digitalWrite(motorbb, LOW);   //Disengage the Brake for Motor Channel B
  analogWrite(motorbhs, 255);    //Spins the motor on Motor Channel B at half speed
 
  //delay(1000);
// STOP!
 
  digitalWrite(motorab, HIGH);  //Engage the Brake for Motor Channel A
  digitalWrite(motorbb, HIGH);  //Engage the Brake for Motor Channel B
  analogWrite(motorahs, 0); // Set speed to 0
  analogWrite(motorbhs, 0);// Set speed to 0
 
  delay(500);
 
  //Turn right
  //Motor A forward @ full speed revering
  digitalWrite(motorafb, LOW);  //Establishes backward direction of Motor Channel A
  digitalWrite(motorab, LOW);   //Disengage the Brake for Motor Channel A
  analogWrite(motorahs, 155);    //Spins the motor on Motor Channel A at half speed
 
  //Motor B forward @ full speed
  digitalWrite(motorbfb, HIGH); //Establishes forward direction of Motor Channel B
  digitalWrite(motorbb, LOW);   //Disengage the Brake for Motor Channel B
  analogWrite(motorbhs, 255);   //Spins the motor on Motor Channel B at full speed
 
  delay(255);
 
  digitalWrite(motorab, HIGH);  //Engage the Brake for Motor Channel A
  digitalWrite(motorbb, HIGH);  //Engage the Brake for Motor Channel B
 
  delay(3000);
 }
}

// setting motor pins as variables
// Motor 1
int motorafb = 2; // Motor A - forward/backwards
int motorab = 4; // Motor A - brake
int motorahs = 5; // Motor A - Speed
int motorbfb = 7; // Motor B - forward/backwards
int motorbb = 8; // Motor B - brake
int motorbhs = 6; // Motor B - Speed
 
void setup() {
 
//Setup Motor A
pinMode(motorafb, OUTPUT); //Initiates Motor A pin
pinMode(motorab, OUTPUT); //Initiates Brake A pin
 
//Setup Motor B
pinMode(motorbfb, OUTPUT); //Initiates Motor B pin
pinMode(motorbb, OUTPUT); //Initiates Brake B pin
}
 
// two functions which turn one motor on, the other off for 'spd' speed, and 'tme' Time
 
void TurnRight(int spd, int tme){
digitalWrite(motorafb, LOW);
digitalWrite(motorab, LOW);
analogWrite(motorahs, spd);
 
digitalWrite(motorbfb, 'HIGH');
digitalWrite(motorbb, LOW);
analogWrite(motorbhs, spd);
delay(tme);
}
 
void TurnLeft(int spd, int tme){
digitalWrite(motorafb, HIGH);
digitalWrite(motorab, LOW);
analogWrite(motorahs, spd);
 
digitalWrite(motorbfb, LOW);
digitalWrite(motorbb, LOW);
analogWrite(motorbhs, spd);
delay(tme);
}
 
// Function to go power both motors for 'spd' speed, and 'tme' time
void GoForward(int spd, int tme){
digitalWrite(motorafb, HIGH);
digitalWrite(motorab, LOW);
analogWrite(motorahs, spd);
 
digitalWrite(motorbfb, HIGH);
digitalWrite(motorbb, LOW);
analogWrite(motorbhs, spd);
delay(tme);
}
 
// Function to stop for a set amount of time - tme
void Stop(int tme){
digitalWrite(motorab, HIGH);
digitalWrite(motorbb, HIGH);
analogWrite(motorahs, 0);
analogWrite(motorbhs, 0);
delay(tme);
}
 
void loop(){
// Now we can use them like this
 
GoForward(255, 500); // So this will go forward full speed (255) fpr 500ms
Stop(1000); // Sits Stopped for 1000ms
TurnRight(255, 1000); // turns Right at full speed for 1000ms
Stop(1000);// Sits Stopped for 1000ms
TurnLeft(255, 1000); // turns Left at full speed for 1000ms
Stop(1000); // Sits Stopped for 1000ms
 
}