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• Simple Code for driving a DC Motor

  indream • 08/16/2015 at 13:59 • 0 comments

  #include "MeUsb.h"
  MeUsb usb(10,9); //use software serial, setting up pin for tx,rx
  
  void setup() 
  {
     Serial.begin(9600); 
     usb.init(USB1_0);
     //initialize USB Host
  }
  void loop()
  { 
    if(!usb.device_online)
    {
      usb.probeDevice(); 
      //poll for usb device's connection
      delay(100);
    }
    else
    {
      //received data from usb device
      int len = usb.host_recv();
      if(len>4){
        parseJoystick(usb.RECV_BUFFER);
      }
    }
  }
  void parseJoystick(unsigned char * buf)
  {
        //parse joystick's data
        uint8_t buttonCode = buf[4]&0xff;
        uint8_t buttonCode_ext = buf[5]&0xff;
        uint8_t joystickCodeL_V = buf[3]&0xff; //top 0 bottom ff
        uint8_t joystickCodeL_H = buf[2]&0xff; //left 0 right ff
        uint8_t joystickCodeR_V = buf[1]&0xff; //top 0 bottom ff
        uint8_t joystickCodeR_H = buf[0]&0xff; //left 0 right ff
        uint8_t directionButtonCode = (buttonCode&0xf);
        uint8_t rightButtonCode = (buttonCode&0xf0)>>4;
        switch(directionButtonCode){
         ...
          case 2:{
            //motor run clockwise
            runMotor(MOTOR_1,100);
            runMotor(MOTOR_2,100);
            break;
          }
         ...
          case 6:{
            //motor run counterclockwise
            runMotor(MOTOR_1,-100);
            runMotor(MOTOR_2,-100);
            break;
          }
          ...
          default:{
            // release;
            runMotor(MOTOR_1,0);
            runMotor(MOTOR_2,0);
        }
      }
   } 
   void runMotor(int motor,int speed){
      //dc motor driver
        int _dirPin;
        int _pwmPin;
        if(motor==MOTOR_1){
          _dirPin = 7;
          _pwmPin = 6;
        }else if(motor==MOTOR_2){
          _dirPin = 4;
          _pwmPin = 5;
        }
        pinMode(_dirPin,OUTPUT);
        pinMode(_pwmPin,OUTPUT);
        digitalWrite(_dirPin,speed>0);
        analogWrite(_pwmPin,abs(speed));
  }

  
  

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