Takeup sketch

ino/takeup/takeup.ino

@@ -0,0 +1,163 @@
+
+/**
+ * Prototype
+ * Arduino Uno
+ * L298N 
+ **/
+
+#define Fpos 9
+#define Fneg 10
+
+#define Bpos 5
+#define Bneg 6
+
+#define Fsignal 11
+#define Bsignal 12
+
+#define Fbutton 3
+#define Bbutton 4
+
+const int Fmotor = 0;
+const int Bmotor = 1;
+
+volatile int Fspeed = 255;
+volatile int Bspeed = 255;
+
+volatile boolean Frunning = false;
+volatile boolean Brunning = false;
+
+void setup() {
+  Serial.begin(57600);
+  Serial.println("Started takeup demo");
+  pinMode(Fpos, OUTPUT);
+  pinMode(Fneg, OUTPUT);
+  pinMode(Bpos, OUTPUT);
+  pinMode(Bneg, OUTPUT);
+
+  pinMode(Fbutton, INPUT_PULLUP);
+  pinMode(Bbutton, INPUT_PULLUP);
+}
+
+void loop() {
+
+}
+
+//input value from 0 to 255
+void set_speed (int motor, int val){ 
+  if (motor == 0) {
+    Fspeed = val;
+  } else if (motor == 1) {
+    Bspeed = val;
+  }
+}
+
+void clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
+  int steps = ceil((float) ms / (float) abs(stopSpeed - startSpeed));
+  int stepMs = round((float) ms / (float) steps);
+  int motorSpeed = startSpeed;
+
+  if (motor == Fmotor) {
+    analogWrite(Fneg, 0);
+  } else if (motor == Bmotor) {
+    analogWrite(Bneg, 0);
+  }
+  for (int i = 0; i < steps; i++) {
+      if (motor == Fmotor) {
+        analogWrite(Fpos, motorSpeed);
+        Frunning = true;
+      } else if (motor == Bmotor) {
+        analogWrite(Bpos, motorSpeed);
+        Brunning = true;
+      }
+      delay(stepMs);
+      motorSpeed += stopSpeed > startSpeed ? 1 : -1;
+  }
+  if (motor == Fmotor) {
+    Fspeed = stopSpeed;
+  } else if (motor == Bmotor) {
+    Bspeed = stopSpeed;
+  }
+}
+
+void counter_clockwise_fade (int motor, int startSpeed, int stopSpeed, int ms) {
+  int steps = ceil((float) ms / (float) abs(stopSpeed - startSpeed));
+  int stepMs = round((float) ms / (float) steps);
+  int motorSpeed = startSpeed;
+
+  if (motor == Fmotor) {
+    analogWrite(Fpos, 0);
+  } else if (motor == Bmotor) {
+    analogWrite(Bpos, 0);
+  }
+  for (int i = 0; i < steps; i++) {
+      if (motor == Fmotor) {
+        analogWrite(Fneg, motorSpeed);
+        Frunning = true;
+      } else if (motor == Bmotor) {
+        analogWrite(Bneg, motorSpeed);
+        Brunning = true;
+      }
+      delay(stepMs);
+      motorSpeed += stopSpeed > startSpeed ? 1 : -1;
+  }
+  if (motor == Fmotor) {
+    Fspeed = stopSpeed;
+  } else if (motor == Bmotor) {
+    Bspeed = stopSpeed;
+  }
+}
+
+void clockwise (int motor){
+  if (motor == Fmotor) {
+    analogWrite(Fpos, Fspeed);
+    analogWrite(Fneg, 0);
+    Frunning = true;
+  } else if (motor == Bmotor) {
+    analogWrite(Bpos, Bspeed);
+    analogWrite(Bneg, 0);
+    Brunning = true;
+  }
+}
+
+void counter_clockwise (int motor){
+  if (motor == Fmotor) {
+    analogWrite(Fpos, 0);
+    analogWrite(Fneg, Fspeed);
+    Frunning = true;
+  } else if (motor == Bmotor) {
+    analogWrite(Bpos, 0);
+    analogWrite(Bneg, Bspeed);
+    Brunning = true; 
+  }
+}
+
+void brake (){
+  if (Frunning) {
+    brakeMotor(Fmotor);
+  }
+  if (Brunning) {
+    brakeMotor(Bmotor);
+  }
+}
+
+void brakeMotor (int motor) {
+  if (motor == Fmotor) {
+    digitalWrite(Fpos, LOW);
+    digitalWrite(Fneg, LOW);
+    Frunning = false;
+  } else if (motor == Bmotor) {
+    digitalWrite(Bpos, LOW);
+    digitalWrite(Bneg, LOW);
+    Brunning = false;
+  }
+}
+
+/**
+ * Vex = higher voltage that can power the motor and/or the shield as well as the Arduino if wanted
+ * 5V = Must be a clean 5V that can power the Arduino and shield, and if wanted also the motor itself
+ * GND = ass always, the ground of everything
+ * B- = Connection of the first motor or first winding of the stepper motor
+ * B+ = Connection of the first motor or first winding of the stepper motor
+ * A- = Connection of the second motor or second winding of the stepper motor
+ * A+ = Connection of the second motor or second winding of the stepper motor
+ **/