SIP Car Code FBRL

 JugueBot

Car Movement

#define SPEED 100    

#define TURN_SPEED 100    

#define speedPinR 9   //  Front Wheel PWM pin connect Right MODEL-X ENA 

#define RightMotorDirPin1  22    //Front Right Motor direction pin 1 to Right MODEL-X IN1  (K1)

#define RightMotorDirPin2  24   //Front Right Motor direction pin 2 to Right MODEL-X IN2   (K1)                                 

#define LeftMotorDirPin1  26    //Front Left Motor direction pin 1 to Right MODEL-X IN3 (K3)

#define LeftMotorDirPin2  28   //Front Left Motor direction pin 2 to Right MODEL-X IN4 (K3)

#define speedPinL 10   //  Front Wheel PWM pin connect Right MODEL-X ENB


#define speedPinRB 11   //  Rear Wheel PWM pin connect Left MODEL-X ENA 

#define RightMotorDirPin1B  5    //Rear Right Motor direction pin 1 to Left  MODEL-X IN1 ( K1)

#define RightMotorDirPin2B 6    //Rear Right Motor direction pin 2 to Left  MODEL-X IN2 ( K1) 

#define LeftMotorDirPin1B 7    //Rear Left Motor direction pin 1 to Left  MODEL-X IN3  (K3)

#define LeftMotorDirPin2B 8  //Rear Left Motor direction pin 2 to Left  MODEL-X IN4 (K3)

#define speedPinLB 12    //  Rear Wheel PWM pin connect Left MODEL-X ENB


/*motor control*/

void go_advance(int speed){

   RL_fwd(speed);

   RR_fwd(speed);

   FR_fwd(speed);

   FL_fwd(speed); 

}

void go_back(int speed){

   RL_bck(speed);

   RR_bck(speed);

   FR_bck(speed);

   FL_bck(speed); 

}

void right_shift(int speed_fl_fwd,int speed_rl_bck ,int speed_rr_fwd,int speed_fr_bck) {

  FL_fwd(speed_fl_fwd); 

  RL_bck(speed_rl_bck); 

  RR_fwd(speed_rr_fwd);

  FR_bck(speed_fr_bck);

}

void left_shift(int speed_fl_bck,int speed_rl_fwd ,int speed_rr_bck,int speed_fr_fwd){

   FL_bck(speed_fl_bck);

   RL_fwd(speed_rl_fwd);

   RR_bck(speed_rr_bck);

   FR_fwd(speed_fr_fwd);

}


void left_turn(int speed){

   RL_bck(0);

   RR_fwd(speed);

   FR_fwd(speed);

   FL_bck(0); 

}

void right_turn(int speed){

   RL_fwd(speed);

   RR_bck(0);

   FR_bck(0);

   FL_fwd(speed); 

}

void left_back(int speed){

   RL_fwd(0);

   RR_bck(speed);

   FR_bck(speed);

   FL_fwd(0); 

}

void right_back(int speed){

   RL_bck(speed);

   RR_fwd(0);

   FR_fwd(0);

   FL_bck(speed); 

}

void clockwise(int speed){

   RL_fwd(speed);

   RR_bck(speed);

   FR_bck(speed);

   FL_fwd(speed); 

}

void countclockwise(int speed){

   RL_bck(speed);

   RR_fwd(speed);

   FR_fwd(speed);

   FL_bck(speed); 

}



void FR_fwd(int speed)  //front-right wheel forward turn

{

  digitalWrite(RightMotorDirPin1,LOW);

  digitalWrite(RightMotorDirPin2,HIGH); 

  analogWrite(speedPinR,speed);

}

void FR_bck(int speed) // front-right wheel backward turn

{

  digitalWrite(RightMotorDirPin1,HIGH);

  digitalWrite(RightMotorDirPin2,LOW); 

  analogWrite(speedPinR,speed);

}

void FL_fwd(int speed) // front-left wheel forward turn

{

  digitalWrite(LeftMotorDirPin1,LOW);

  digitalWrite(LeftMotorDirPin2,HIGH);

  analogWrite(speedPinL,speed);

}

void FL_bck(int speed) // front-left wheel backward turn

{

  digitalWrite(LeftMotorDirPin1,HIGH);

  digitalWrite(LeftMotorDirPin2,LOW);

  analogWrite(speedPinL,speed);

}


void RR_fwd(int speed)  //rear-right wheel forward turn

{

  digitalWrite(RightMotorDirPin1B, LOW);

  digitalWrite(RightMotorDirPin2B,HIGH); 

  analogWrite(speedPinRB,speed);

}

void RR_bck(int speed)  //rear-right wheel backward turn

{

  digitalWrite(RightMotorDirPin1B, HIGH);

  digitalWrite(RightMotorDirPin2B,LOW); 

  analogWrite(speedPinRB,speed);

}

void RL_fwd(int speed)  //rear-left wheel forward turn

{

  digitalWrite(LeftMotorDirPin1B,LOW);

  digitalWrite(LeftMotorDirPin2B,HIGH);

  analogWrite(speedPinLB,speed);

}

void RL_bck(int speed)    //rear-left wheel backward turn

{

  digitalWrite(LeftMotorDirPin1B,HIGH);

  digitalWrite(LeftMotorDirPin2B,LOW);

  analogWrite(speedPinLB,speed);

}

 

void stop_Stop()    //Stop

{

  analogWrite(speedPinLB,0);

  analogWrite(speedPinRB,0);

  analogWrite(speedPinL,0);

  analogWrite(speedPinR,0);

}



//Pins initialize

void init_GPIO()

{

  pinMode(RightMotorDirPin1, OUTPUT); 

  pinMode(RightMotorDirPin2, OUTPUT); 

  pinMode(speedPinL, OUTPUT);  

 

  pinMode(LeftMotorDirPin1, OUTPUT);

  pinMode(LeftMotorDirPin2, OUTPUT); 

  pinMode(speedPinR, OUTPUT);

  pinMode(RightMotorDirPin1B, OUTPUT); 

  pinMode(RightMotorDirPin2B, OUTPUT); 

  pinMode(speedPinLB, OUTPUT);  

 

  pinMode(LeftMotorDirPin1B, OUTPUT);

  pinMode(LeftMotorDirPin2B, OUTPUT); 

  pinMode(speedPinRB, OUTPUT);

   

  stop_Stop();

}


void setup()

{

  init_GPIO();

 

go_advance(SPEED);

     delay(1000);

     stop_Stop();

     delay(1000);

  

go_back(SPEED);

      delay(1000);

      stop_Stop();

      delay(1000);

  

left_turn(TURN_SPEED);

      delay(1000);

      stop_Stop();

      delay(1000);

  

right_turn(TURN_SPEED);

     delay(1000);

     stop_Stop();

     delay(1000);

  

right_shift(200,200,200,200); //right shift

     delay(1000);

     stop_Stop();

     delay(1000);


left_shift(200,200,200,200); //left shift

     delay(1000);

     stop_Stop();

     delay(1000);

 

left_shift(200,0,200,0); //left diagonal back

     delay(1000);

     stop_Stop();

delay(1000);

 

right_shift(200,0,200,0); //right diagonal ahead

     delay(1000);

     stop_Stop();

delay(1000);


left_shift(0,200,0,200); //left diagonal ahead

     delay(1000);

     stop_Stop();

     delay(1000);


right_shift(0,200,0,200); //right diagonal back

     delay(1000);

     stop_Stop();

delay(1000);

}


void loop(){

}

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