Arduino Nano L293D

From ColdSphinX, 6 Years ago, written in C++.

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#define DEBUG 0

//L293D

//Motor A (left)

#define MOTOR_PIN1 9 // Pin 2 of L293

#define MOTOR_PIN2 10 // Pin 7 of L293

//const int MOTOR_PIN1 = 9; // Pin 2 of L293

//const int MOTOR_PIN2 = 10; // Pin 7 of L293

//Motor B (right)

#define MOTOR_PIN3 11 // Pin 10 of L293

#define MOTOR_PIN4 12 // Pin 15 of L293

//const int MOTOR_PIN3 = 11; // Pin 10 of L293

//const int MOTOR_PIN4 = 12; // Pin 15 of L293

//IR Remote

#include <IRremote.h>

#define IR_PIN 8

IRrecv irrecv(IR_PIN);

decode_results ir_results;

//Ultrasonic sensor

#define US_TRIG_PIN 7

#define US_ECHO_PIN 6

long duration;

int distance;

/*

* 0xFF38C7 => 5 (stop)

* 0xFF18E7 => 2 (forward)

* 0xFF4AB5 => 8 (backward)

* 0xFF5AA5 => 6 (right rotate)

* 0xFF10EF => 4 (left rotate)

* 0xFF30CF => 1 (left circle)

* 0xFF7A85 => 3 (right circle)

*/

enum movements{

UNDEFINED,

STOP,

FORWARD,

BACKWARD,

LEFT_ROTATE,

RIGHT_ROTATE,

LEFT_CIRCLE,

RIGHT_CIRCLE

};

enum movements current_mode;

enum movements next_mode;

#define TIME_WAIT 3600

void setup() {

randomSeed(analogRead(0));

//Set pins as outputs

pinMode(MOTOR_PIN1, OUTPUT);

pinMode(MOTOR_PIN2, OUTPUT);

pinMode(MOTOR_PIN3, OUTPUT);

pinMode(MOTOR_PIN4, OUTPUT);

stop();

current_mode = STOP;

next_mode = STOP;

pinMode(US_TRIG_PIN, OUTPUT);

digitalWrite(US_TRIG_PIN, LOW);

pinMode(US_ECHO_PIN, INPUT);

#if DEBUG > 0

Serial.begin(9600);

Serial.println("IR Receiver Raw Data + Button Decode Test");

#endif

irrecv.enableIRIn(); // Start the receiver

}

void motor_a_stop() {

digitalWrite(MOTOR_PIN1, LOW);

digitalWrite(MOTOR_PIN2, LOW);

}

void motor_a_forward() {

digitalWrite(MOTOR_PIN1, LOW);

digitalWrite(MOTOR_PIN2, HIGH);

}

void motor_a_backward() {

digitalWrite(MOTOR_PIN1, HIGH);

digitalWrite(MOTOR_PIN2, LOW);

}

void motor_b_stop() {

digitalWrite(MOTOR_PIN3, LOW);

digitalWrite(MOTOR_PIN4, LOW);

}

void motor_b_forward() {

digitalWrite(MOTOR_PIN3, LOW);

digitalWrite(MOTOR_PIN4, HIGH);

}

void motor_b_backward() {

digitalWrite(MOTOR_PIN3, HIGH);

digitalWrite(MOTOR_PIN4, LOW);

}

void left_stop() {

motor_a_stop();

}

void right_stop() {

motor_b_stop();

}

void stop() {

left_stop();

right_stop();

}

void left_forward() {

motor_a_backward();

}

void left_backward() {

motor_a_forward();

}

void right_forward() {

motor_b_forward();

}

void right_backward() {

motor_b_backward();

}

void forward() {

left_forward();

right_forward();

}

void backward() {

left_backward();

right_backward();

}

void left_rotate() {

left_backward();

right_forward();

}

void right_rotate() {

left_forward();

right_backward();

}

void left_circle() {

left_stop();

right_forward();

}

void right_circle() {

right_stop();

left_forward();

}

void wait() {

delay(TIME_WAIT);

stop();

}

void test_movements(){

forward();

wait();

backward();

wait();

left_rotate();

wait();

right_rotate();

wait();

left_circle();

wait();

right_circle();

wait();

stop();

wait();

}

void ir_decode(){

switch(ir_results.value){

/*

* 0xFF38C7 => 5 (stop) => STOP

* 0xFF18E7 => 2 (forward) => FORWARD

* 0xFF4AB5 => 8 (backward) => BACKWARD

* 0xFF10EF => 4 (left rotate) => LEFT_ROTATE

* 0xFF5AA5 => 6 (right rotate) => RIGHT_ROTATE

* 0xFF7A85 => 3 (right circle) => LEFT_CIRCLE

* 0xFF30CF => 1 (left circle) => RIGHT_CIRCLE

*/

case 0xFF38C7:

#if DEBUG > 0

Serial.println("Stop (5)");

#endif

next_mode = STOP;

break;

case 0xFF18E7:

#if DEBUG > 0

Serial.println("Forward (2)");

#endif

next_mode = FORWARD;

break;

case 0xFF4AB5:

#if DEBUG > 0

Serial.println("Backward (8)");

#endif

next_mode = BACKWARD;

break;

case 0xFF10EF:

#if DEBUG > 0

Serial.println("Left rotate (4)");

#endif

next_mode = LEFT_ROTATE;

break;

case 0xFF5AA5:

#if DEBUG > 0

Serial.println("Right rotate (6)");

#endif

next_mode = RIGHT_ROTATE;

break;

case 0xFF7A85:

#if DEBUG > 0

Serial.println("Left circle (3)");

#endif

next_mode = LEFT_CIRCLE;

break;

case 0xFF30CF:

#if DEBUG > 0

Serial.println("Right circle (1)");

#endif

next_mode = RIGHT_CIRCLE;

break;

#if DEBUG > 0

default:

Serial.print("Unknown button: ");

Serial.println(ir_results.value, HEX);

#endif

}

}

void sonic_check(){

//reset

digitalWrite(US_TRIG_PIN, LOW);

delayMicroseconds(2);

//Set the trigger pin on HIGH state for 10 micro seconds

digitalWrite(US_TRIG_PIN, HIGH);

delayMicroseconds(10);

digitalWrite(US_TRIG_PIN, LOW);

//Read echo

duration = pulseIn(US_ECHO_PIN, HIGH);

//Calculating distance

distance = duration * 0.034 / 2;

#if DEBUG > 1

Serial.print("Distance: ");

Serial.println(distance);

#endif

if (distance <= 5){

enum movements last_mode = current_mode;

stop();

current_mode = STOP;

long t = random(100,1000);

long c = random(10);

if (c >=5){

left_rotate();

current_mode = LEFT_ROTATE;

} else {

right_rotate();

current_mode = RIGHT_ROTATE;

}

delay(t);

next_mode = last_mode;

}

}

void mode_check(){

#if DEBUG > 2

Serial.println("Mode: ");

Serial.print("# Current: ");

Serial.println(current_mode);

Serial.print("# Next: ");

Serial.println(next_mode);

#endif

if (next_mode != current_mode) {

switch(next_mode){

/*

* 0xFF38C7 => 5 (stop) => STOP

* 0xFF18E7 => 2 (forward) => FORWARD

* 0xFF4AB5 => 8 (backward) => BACKWARD

* 0xFF10EF => 4 (left rotate) => LEFT_ROTATE

* 0xFF5AA5 => 6 (right rotate) => RIGHT_ROTATE

* 0xFF7A85 => 3 (right circle) => LEFT_CIRCLE

* 0xFF30CF => 1 (left circle) => RIGHT_CIRCLE

*/

case STOP:

stop();

current_mode = STOP;

break;

case FORWARD:

forward();

current_mode = FORWARD;

break;

case BACKWARD:

backward();

current_mode = BACKWARD;

break;

case LEFT_ROTATE:

left_rotate();

current_mode = LEFT_ROTATE;

break;

case RIGHT_ROTATE:

right_rotate();

current_mode = RIGHT_ROTATE;

break;

case LEFT_CIRCLE:

left_circle();

current_mode = LEFT_CIRCLE;

break;

case RIGHT_CIRCLE:

right_circle();

current_mode = RIGHT_CIRCLE;

break;

}

} else {

delay(500);

}

}

void loop() {

if (irrecv.decode(&ir_results)){

ir_decode();

irrecv.resume(); // receive the next value

}

sonic_check();

mode_check();

#ifdef DEBUG

//test_movements()

#endif

}

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#define DEBUG 0

//L293D
//Motor A (left)
#define MOTOR_PIN1 9 // Pin 2 of L293
#define MOTOR_PIN2 10 // Pin 7 of L293
//const int MOTOR_PIN1  = 9;  // Pin 2 of L293
//const int MOTOR_PIN2  = 10;  // Pin 7 of L293
//Motor B (right)
#define MOTOR_PIN3 11 // Pin  10 of L293
#define MOTOR_PIN4 12 // Pin  15 of L293
//const int MOTOR_PIN3  = 11; // Pin  10 of L293
//const int MOTOR_PIN4  = 12;  // Pin  15 of L293

//IR Remote
#include <IRremote.h>
#define IR_PIN 8
IRrecv irrecv(IR_PIN);
decode_results ir_results;

//Ultrasonic sensor
#define US_TRIG_PIN 7
#define US_ECHO_PIN 6
long duration;
int distance;

/*
     * 0xFF38C7 => 5 (stop)
     * 0xFF18E7 => 2 (forward)
     * 0xFF4AB5 => 8 (backward)
     * 0xFF5AA5 => 6 (right rotate)
     * 0xFF10EF => 4 (left rotate)
     * 0xFF30CF => 1 (left circle)
     * 0xFF7A85 => 3 (right circle)
     */
enum movements{
  UNDEFINED,
  STOP,
  FORWARD,
  BACKWARD,
  LEFT_ROTATE,
  RIGHT_ROTATE,
  LEFT_CIRCLE,
  RIGHT_CIRCLE
};

enum movements current_mode;
enum movements next_mode;

#define TIME_WAIT 3600

void setup() {
  randomSeed(analogRead(0));
  //Set pins as outputs
  pinMode(MOTOR_PIN1, OUTPUT);
  pinMode(MOTOR_PIN2, OUTPUT);
  pinMode(MOTOR_PIN3, OUTPUT);
  pinMode(MOTOR_PIN4, OUTPUT);
  stop();
  current_mode = STOP;
  next_mode = STOP;
  pinMode(US_TRIG_PIN, OUTPUT);
  digitalWrite(US_TRIG_PIN, LOW);
  pinMode(US_ECHO_PIN, INPUT);
#if DEBUG > 0
  Serial.begin(9600);
  Serial.println("IR Receiver Raw Data + Button Decode Test");
#endif
  irrecv.enableIRIn(); // Start the receiver
}

void motor_a_stop() {
  digitalWrite(MOTOR_PIN1, LOW);
  digitalWrite(MOTOR_PIN2, LOW);
}

void motor_a_forward() {
  digitalWrite(MOTOR_PIN1, LOW);
  digitalWrite(MOTOR_PIN2, HIGH);
}

void motor_a_backward() {
  digitalWrite(MOTOR_PIN1, HIGH);
  digitalWrite(MOTOR_PIN2, LOW);
}

void motor_b_stop() {
  digitalWrite(MOTOR_PIN3, LOW);
  digitalWrite(MOTOR_PIN4, LOW);
}

void motor_b_forward() {
  digitalWrite(MOTOR_PIN3, LOW);
  digitalWrite(MOTOR_PIN4, HIGH);
}

void motor_b_backward() {
  digitalWrite(MOTOR_PIN3, HIGH);
  digitalWrite(MOTOR_PIN4, LOW);
}

void left_stop() {
  motor_a_stop();
}

void right_stop() {
  motor_b_stop();
}

void stop() {
  left_stop();
  right_stop();
}

void left_forward() {
  motor_a_backward();
}

void left_backward() {
  motor_a_forward();
}

void right_forward() {
  motor_b_forward();
}

void right_backward() {
  motor_b_backward();
}

void forward() {
  left_forward();
  right_forward();
}

void backward() {
  left_backward();
  right_backward();
}

void left_rotate() {
  left_backward();
  right_forward();
}

void right_rotate() {
  left_forward();
  right_backward();
}

void left_circle() {
  left_stop();
  right_forward();
}

void right_circle() {
  right_stop();
  left_forward();
}

void wait() {
  delay(TIME_WAIT);
  stop();
}

void test_movements(){
  forward();
  wait();
  backward();
  wait();
  left_rotate();
  wait();
  right_rotate();
  wait();
  left_circle();
  wait();
  right_circle();
  wait();
  stop();
  wait();
}

void ir_decode(){
  switch(ir_results.value){
    /*
     * 0xFF38C7 => 5 (stop)         => STOP
     * 0xFF18E7 => 2 (forward)      => FORWARD
     * 0xFF4AB5 => 8 (backward)     => BACKWARD
     * 0xFF10EF => 4 (left rotate)  => LEFT_ROTATE
     * 0xFF5AA5 => 6 (right rotate) => RIGHT_ROTATE
     * 0xFF7A85 => 3 (right circle) => LEFT_CIRCLE
     * 0xFF30CF => 1 (left circle)  => RIGHT_CIRCLE
     */
    case 0xFF38C7:
#if DEBUG > 0
      Serial.println("Stop (5)");
#endif
      next_mode = STOP;
      break;

case 0xFF18E7:
#if DEBUG > 0
      Serial.println("Forward (2)");
#endif
      next_mode = FORWARD;
      break;

case 0xFF4AB5:
#if DEBUG > 0
      Serial.println("Backward (8)");
#endif
      next_mode = BACKWARD;
      break;

case 0xFF10EF:
#if DEBUG > 0
      Serial.println("Left rotate (4)");
#endif
      next_mode = LEFT_ROTATE;
      break;

case 0xFF5AA5:
#if DEBUG > 0
      Serial.println("Right rotate (6)");
#endif
      next_mode = RIGHT_ROTATE;
      break;

case 0xFF7A85:
#if DEBUG > 0
      Serial.println("Left circle (3)");
#endif
      next_mode = LEFT_CIRCLE;
      break;

case 0xFF30CF:
#if DEBUG > 0
      Serial.println("Right circle (1)");
#endif
      next_mode = RIGHT_CIRCLE;
      break;

#if DEBUG > 0
    default:
      Serial.print("Unknown button: ");
      Serial.println(ir_results.value, HEX);
#endif
  }
}

void sonic_check(){
  //reset
  digitalWrite(US_TRIG_PIN, LOW);
  delayMicroseconds(2);
  //Set the trigger pin on HIGH state for 10 micro seconds
  digitalWrite(US_TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(US_TRIG_PIN, LOW);
  //Read echo
  duration = pulseIn(US_ECHO_PIN, HIGH);
  //Calculating distance
  distance = duration * 0.034 / 2;
#if DEBUG > 1
  Serial.print("Distance: ");
  Serial.println(distance);
#endif
  if (distance <= 5){
    enum movements last_mode = current_mode;
    stop();
    current_mode = STOP;
    long t = random(100,1000);
    long c = random(10);
    if (c >=5){
        left_rotate();
        current_mode = LEFT_ROTATE;
    } else {
        right_rotate();
        current_mode = RIGHT_ROTATE;
    }
    delay(t);
    next_mode = last_mode;
  }
}

void mode_check(){
#if DEBUG > 2
  Serial.println("Mode: ");
  Serial.print("# Current: ");
  Serial.println(current_mode);
  Serial.print("# Next: ");
  Serial.println(next_mode);
#endif
  if (next_mode != current_mode) {
    switch(next_mode){
    /*
     * 0xFF38C7 => 5 (stop)         => STOP
     * 0xFF18E7 => 2 (forward)      => FORWARD
     * 0xFF4AB5 => 8 (backward)     => BACKWARD
     * 0xFF10EF => 4 (left rotate)  => LEFT_ROTATE
     * 0xFF5AA5 => 6 (right rotate) => RIGHT_ROTATE
     * 0xFF7A85 => 3 (right circle) => LEFT_CIRCLE
     * 0xFF30CF => 1 (left circle)  => RIGHT_CIRCLE
     */
      case STOP:
        stop();
        current_mode = STOP;
        break;
      case FORWARD:
        forward();
        current_mode = FORWARD;
        break;
      case BACKWARD:
        backward();
        current_mode = BACKWARD;
        break;
      case LEFT_ROTATE:
        left_rotate();
        current_mode = LEFT_ROTATE;
        break;
      case RIGHT_ROTATE:
        right_rotate();
        current_mode = RIGHT_ROTATE;
        break;
      case LEFT_CIRCLE:
        left_circle();
        current_mode = LEFT_CIRCLE;
        break;
      case RIGHT_CIRCLE:
        right_circle();
        current_mode = RIGHT_CIRCLE;
        break;
    }
  } else {
    delay(500);
  }
}

void loop() {
  if (irrecv.decode(&ir_results)){
    ir_decode();
    irrecv.resume(); // receive the next value
  }
  sonic_check();
  mode_check();
#ifdef DEBUG
    //test_movements()
#endif
}

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