1. Let's move out¶

1.1 Drive Motor¶

Let's drive motors you assembled last class.
In this class, each two motors on left and right drive together.

First, set pinMode for each pin of motor drive from datasheet

Fill arduino code below.

// arduino code
int PIN_STNB = 3
int PIN_AIN1 = 4
int PIN_AIN2 = 5
int PIN_PWMA = 6
// and so on

void setup(){
    pinMode(PIN_STNB, OUTPUT);
    pinMode(PIN_AIN1, OUTPUT);
    pinMode(PIN_AIN2, OUTPUT);
    pinMode(PIN_PWMA, OUTPUT);
    // and so on
}

Drive motors with proper digitalWrite functions.

void loop(){
    digitalWrite(PIN_STNB, HIGH);
    digitalWrite(PIN_AIN1, HIGH);
    digitalWrite(PIN_AIN2, LOW);
    analogWrite(PIN_PWMA, 255);
    // and so on
}

1.2. Change Speed and Direction¶

Try the speed and steering control of the RC car with your own code.
Add analogWrite function on your code.

2. Modulization¶

2.1. Create Functions¶

Create functions for 8-way move. LEFT and RIGHT be replaced with TURNCW and TURNCCW. Each functions should have parameters to adjust speed or direction(how much rotate).

void FORWARD(int speed){
  digitalWrite( , );
  digitalWrite( , );
  analogWrite( , speed);
  // fill your code
}
void FORWARD_LEFT(int speed, int direction){
  digitalWrite( , );
  digitalWrite( , );
  analogWrite( , speed);
  // fill your code
}

or you can use speed of left / right motors as parameter of FORWARD_LEFT

void FORWARD_LEFT(int left_spd, int right_spd){
  digitalWrite( , );
  digitalWrite( , );
  analogWrite( , speed);
  // fill your code
}

3. Make your scenarios¶

Make sequence of motions with function you made.
delay(milliseconds); function of ArduinoIDE may be useful.

void loop(){
    FORWARD(150); // first motion
    delay(1000);

FORWARD_LEFT(100, 45); // second motion
    delay(1000);
    // fill your code
}

3.1. Add LED Function¶

Should a car tail lights up when turn?

Write your code for LEDs with your own logic.

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