bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/arduino/drive.ino')
-rw-r--r--car_driver/arduino/drive.ino47
1 files changed, 13 insertions, 34 deletions
diff --git a/car_driver/arduino/drive.ino b/car_driver/arduino/drive.ino
index 718b532..4ced292 100644
--- a/car_driver/arduino/drive.ino
+++ b/car_driver/arduino/drive.ino
@@ -6,8 +6,6 @@
#define BrakeMotorB 8
#define MotorBSpeed 11
-#define SPEED 255 // speed of motors
-
void begin() {
// Setup Channel A
pinMode(MotorA, OUTPUT);
@@ -18,38 +16,29 @@ void begin() {
pinMode(BrakeMotorB, OUTPUT);
}
+// @param direction LOW is backwards, HIGH is forward
+// @param speed 0-255
+void motor(int motorpin, int motorbrake, int motorspeed, int direction,
+ int speed) {
+ digitalWrite(motorpin, direction);
+ digitalWrite(motorbrake, LOW); // brake off
+ analogWrite(motorspeed, speed); // speed up
+}
+
void motorAForward(int speed) {
- digitalWrite(MotorA, HIGH); // forward
- digitalWrite(BrakeMotorA, LOW); // brake off
- analogWrite(MotorASpeed, speed); // speed of motor
+ motor(MotorA, BrakeMotorA, MotorASpeed, HIGH, speed);
}
void motorBForward(int speed) {
- digitalWrite(MotorB, HIGH); // forward
- digitalWrite(BrakeMotorB, LOW); // brake off
- analogWrite(MotorBSpeed, speed); // speed of motor
+ motor(MotorB, BrakeMotorB, MotorBSpeed, HIGH, speed);
}
void motorBBackward(int speed) {
- digitalWrite(MotorB, LOW); // backwards
- digitalWrite(BrakeMotorB, LOW); // brake off
- analogWrite(MotorBSpeed, speed); // speed of motor
+ motor(MotorB, BrakeMotorB, MotorBSpeed, LOW, speed);
}
void motorABackward(int speed) {
- digitalWrite(MotorA, LOW); // backwards
- digitalWrite(BrakeMotorA, LOW); // brake off
- analogWrite(MotorASpeed, speed); // speed of motor
-}
-
-void forward() {
- motorAForward(SPEED);
- motorBForward(SPEED);
-}
-
-void backward() {
- motorABackward(SPEED);
- motorBBackward(SPEED);
+ motor(MotorA, BrakeMotorA, MotorASpeed, LOW, speed);
}
void brakeMotorA() {
@@ -65,14 +54,4 @@ void brakeMotorB() {
void stop() {
brakeMotorA();
brakeMotorB();
-}
-
-void left() {
- brakeMotorA();
- motorBForward(SPEED);
-}
-
-void right() {
- brakeMotorB();
- motorAForward(SPEED);
} \ No newline at end of file