In this video lesson we see how the speed of the Robot Car can be changed by doing analogWrite commands to the Enable pins on the L298N DC motor controllers. The code below presents the results we developed in the video.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 | int ENA=5; int ENB=6; int IN1=7; int IN2=8; int IN3=9; int IN4=11; float d; int degRot; int left; int right; void setup() { // put your setup code here, to run once: Serial.begin(9600); pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(IN3,OUTPUT); pinMode(IN4,OUTPUT); digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); } void loop() { left=255; right=255; setSpeed(left,right); forward(10); while(1==1){ } } void setSpeed(int leftVal,int rightVal){ analogWrite(ENA,leftVal); analogWrite(ENB,rightVal); } void forward(float d){ float t; digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); t=d/2.45*1000; delay(t); stopCar(); } void backward(float d){ float t; digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); t=d/2.45*1000; delay(t); stopCar(); } void turnRight(int deg){ float t; digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); t=deg/345.*1000.; Serial.println(deg); delay(t); stopCar(); } void turnLeft(float deg){ float t; digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); t=deg/345.*1000.; Serial.println(deg); delay(t); stopCar(); } void stopCar(){ digitalWrite(IN1,LOW); digitalWrite(IN2,LOW); digitalWrite(IN3,LOW); digitalWrite(IN4,LOW); } void calF(){ digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); delay(5000); stopCar(); } void calB(){ digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); delay(5000); stopCar(); } void calR(){ digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); delay(5000); stopCar(); } void calL(){ digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); delay(5000); stopCar(); } |