12V DC Motor Controlled By Adafruit TB6612 Motor Driver

1/******************************************************************************
2linear_actuator_DCmotor12V  
3Modified By: Bo Bomwan, November 2022 
4NOTES: This code works for either  1 motor, or 2 motors. In this code, I have it controlling only 1 motor (no pins  are connected for the 2nd motor). 
5
6TestRun.ino
7TB6612FNG H-Bridge Motor  Driver Example code
8Michelle @ SparkFun Electronics
98/20/16
10https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library
11
12Uses  2 motors to show examples of the functions in the library.  This causes
13a robot  to do a little 'jig'.  Each movement has an equal and opposite movement
14so assuming  your motors are balanced the bot should end up at the same place it 
15started.
16
17Resources:
18TB6612  SparkFun Library
19
20Development environment specifics:
21Developed on Arduino  1.6.4
22Developed with ROB-9457
23******************************************************************************/
24
25//  This is the library for the TB6612 that contains the class Motor and all the
26//  functions
27#include <SparkFun_TB6612.h>
28
29// Pins for all inputs, keep in  mind the PWM defines must be on PWM pins
30// the default pins listed are the ones  used on the Redbot (ROB-12097) with
31// the exception of STBY which the Redbot  controls with a physical switch
32#define AIN1 5
33#define AIN2 4
34#define PWMA  10
35#define STBY 9
36
37#define BIN1 7
38#define BIN2 8
39#define PWMB 6
40  
41
42// these constants are used to allow you to make your motor configuration  
43// line up with function names like forward.  Value can be 1 or -1 
44const  int offsetA = 1;
45const int offsetB = 1;
46
47// Initializing motors.  The library  will allow you to initialize as many
48// motors as you have memory for.  If you  are using functions like forward
49// that take 2 motors as arguements you can  either write new functions or
50// call the function more than once.
51Motor motor1  = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
52Motor motor2 = Motor(BIN1, BIN2, PWMB,  offsetB, STBY);
53
54
55void setup()
56{
57 //Nothing here
58}
59
60
61void  loop()
62{ 
63  
64   //Use of the drive function which takes as arguements the  speed
65   //and optional duration.  A negative speed will cause it to go
66   //backwards.  Speed can be from -255 to 255.  Also use of the 
67   //brake function which  takes no arguements.
68   motor1.drive(255,1000);
69   motor1.drive(-255,1000);
70   motor1.brake();
71   delay(1000);
72   
73}
74
75
76// Drive in direction  given by sign, at speed given by magnitude of the 
77//parameter.
78void drive(int  speed);  
79
80// drive(), but with a delay(duration)
81void drive(int speed,  int duration);  
82
83//currently not implemented
84//void stop();           //  Stop motors, but allow them to coast to a halt.
85//void coast();          // Stop  motors, but allow them to coast to a halt.
86
87//Stops motor by setting both  input pins high
88void brake(); 
89
90//set the chip to standby mode.  The drive  function takes it out of standby 
91//(forward, back, left, and right all call  drive)
92void standby(); 
93
94//Takes 2 motors and goes forward, if it does  not go forward adjust offset 
95//values until it does.  These will also take a  negative number and go backwards
96//There is also an optional speed input, if  speed is not used, the function will
97//use the DEFAULTSPEED constant.
98void  forward(Motor motor1, Motor motor2, int speed);
99void forward(Motor motor1, Motor  motor2);
100
101//Similar to forward, will take 2 motors and go backwards.  This  will take either
102//a positive or negative number and will go backwards either  way.  Once again the
103//speed input is optional and will use DEFAULTSPEED if it  is not defined.
104void back(Motor motor1, Motor motor2, int speed);
105void back(Motor  motor1, Motor motor2);
106
107//Left and right take 2 motors, and it is important  the order they are sent.
108//The left motor should be on the left side of the bot.  These functions
109//also take a speed value
110void left(Motor left, Motor right,  int speed);
111void right(Motor left, Motor right, int speed);
112
113//This function  takes 2 motors and and brakes them
114void brake(Motor motor1, Motor motor2);
115