B4R H Bridge L293D 馬達控制 (Arduino UNO)

B4R H Bridge L293D 馬達控制 (Arduino UNO)

 

#Region Project Attributes

#AutoFlushLogs: True

#CheckArrayBounds: True

#StackBufferSize: 300

#End Region

Sub Process_Globals

Public Serial1 As Serial

Private MotorON = False As Boolean 'motor ON or OFF, ON = True

Private MotorDirection = False As Boolean 'motor direction 

Private MotorSpeed = 0 As UInt

Private TimerMotor As Timer

Private pinSwitchMotorONOFF, pinSwitchMotorDirection, pinMotorSpeed, pinMotorControl1, pinMotorControl2, pinPot As Pin

Private BounceTimeMotorON, BounceTimeMotorDirection As ULong

Private BounceDelay = 10 As ULong

End Sub

Private Sub AppStart

Serial1.Initialize(9600)

Log("AppStart")

TimerMotor.Initialize("TimerMotor_Tick", 200)

pinSwitchMotorONOFF.Initialize(pinSwitchMotorONOFF.A5, pinSwitchMotorONOFF.MODE_INPUT_PULLUP)

pinSwitchMotorONOFF.AddListener("pinSwitchMotorONOFF_StateChanged")

pinSwitchMotorDirection.Initialize(pinSwitchMotorONOFF.A3, pinSwitchMotorDirection.MODE_INPUT_PULLUP)

pinSwitchMotorDirection.AddListener("pinSwitchMotorDirection_StateChanged")

pinMotorControl1.Initialize(2, pinMotorControl1.MODE_OUTPUT)

pinMotorControl2.Initialize(3, pinMotorControl1.MODE_OUTPUT)

pinMotorSpeed.Initialize(10, pinMotorSpeed.MODE_OUTPUT)

pinPot.Initialize(pinPot.A1, pinPot.MODE_INPUT)

pinMotorControl1.DigitalWrite(MotorDirection)

pinMotorControl2.DigitalWrite(Not(MotorDirection))

End Sub

Private Sub pinSwitchMotorONOFF_StateChanged (State As Boolean)

If State = False Then

If Millis - BounceTimeMotorON < BounceDelay Then

Return

Else

MotorON = Not(MotorON)

If MotorON = True Then

TimerMotor.Enabled = MotorON

Else

pinMotorSpeed.AnalogWrite(0)

End If

BounceTimeMotorON = Millis

End If

Log("MotorON: ", MotorON)

End If

End Sub

Private Sub pinSwitchMotorDirection_StateChanged (State As Boolean)

' Log("StateON ", State)

If State = False Then

If Millis - BounceTimeMotorDirection < BounceDelay Then

Return

Else

MotorDirection = Not(MotorDirection)

pinMotorControl1.DigitalWrite(MotorDirection)

pinMotorControl2.DigitalWrite(Not(MotorDirection))

BounceTimeMotorDirection = Millis

End If

Log("MotorDirection: ", MotorDirection)

End If

End Sub

Private Sub TimerMotor_Tick

If MotorON = True Then

MotorSpeed = pinPot.AnalogRead / 4

' Log("MotorSpeed: ", MotorSpeed)

pinMotorSpeed.AnalogWrite(MotorSpeed)

End If

End Sub