Blog 19
Revision as of 09:55, 23 November 2015 by Cartridge1987 (talk | contribs)
2 Wheeled car: Arduino Version
#define Motor 0x48 #include <Wire.h> //Time to pause rotating //static unsigned long Pause = 10000; static unsigned long Speed = 40; void setup() { Wire.begin(); // wake up I2C bus Serial.begin(9600); } byte get_var(byte address, byte reg) { byte value; Wire.beginTransmission(address); Wire.write(reg); Wire.endTransmission(); delayMicroseconds (10); Wire.requestFrom(Motor, 1); value = Wire.read(); return value; } void set_var(byte address, byte reg, byte value) { Wire.beginTransmission(address); // transmit to motor Wire.write(reg); Wire.write(value); Wire.endTransmission(); // stop transmitting } void loop() { unsigned long AddressA; unsigned long AddressB; char buf[32]; set_var(0x48, 0x21, Speed); set_var(0x48, 0x31, Speed); AddressA = get_var(0x48, 0x21); sprintf (buf, "Speed: A:%d ", AddressA); Serial.write (buf); AddressB = get_var(0x48, 0x31); sprintf (buf, " B: %d\r\n", AddressB); Serial.write (buf); delay(500); // delay(Pause); }
This is the list I have made for the Raspberry Pi Version, what also counts for the Arduino version(If your car is switched to the other side this can of course be the opposite):
- # X is forwards - Y is backwards
- #Wheels at front
- #20 A backwards
- #21 A forwards
- #22 A stop
- #30 B backwards
- #31 B forwards
- #32 B stop
You can also check the motor protocol, for more info.
In my example script we go forward with 0x21 + 0x31 having the same value. For other movements you should have(If you car is flipped this can of course be the opposite!):
To go backwards:
set_var(0x48, 0x20, Same Speed value); set_var(0x48, 0x30, Same Speed value);
To go left:
set_var(0x48, 0x21, High Speed value); set_var(0x48, 0x31, Low Speed value);
To go right:
set_var(0x48, 0x21, Low Speed value); set_var(0x48, 0x31, High Speed value);
To stop the car:
set_var(0x48, 0x21, Speed value doesn't matter); set_var(0x48, 0x31, Speed value doesn't matter);
To rotate to the left:
set_var(0x48, 0x21, Same Speed value); set_var(0x48, 0x30, Same Speed value);
To rotate to the right:
set_var(0x48, 0x20, Same Speed value); set_var(0x48, 0x31, Same Speed value);
If you do this don't forget to add: static unsigned long Speed2 = "Put here your value";