1// Start the I2C Bus as Slave 2
2
3#include <Wire.h>
4void setup()   
5{
6  Wire.begin(2); // Adress 2
7  Wire.onReceive(reciveEvent);
8
9     //Setup Channel A
10  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
11   pinMode(9, OUTPUT); //Initiates Brake Channel A pin
12
13  //Setup Channel B
14   pinMode(13, OUTPUT); //Initiates Motor Channel A pin
15  pinMode(8, OUTPUT);   //Initiates Brake Channel A pin
16}
17
18void loop() 
19{
20}
21
22void   reciveEvent ( int howMany)
23{
24  char c = Wire.read();
25  if ( c == 'A')
26   {
27     
28  //Motor A forward @ full speed
29  digitalWrite(12, HIGH); //Establishes   forward direction of Channel A
30  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
31  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed
32
33  //Motor B forward @ full speed
34  digitalWrite(13, HIGH); //Establishes   forward direction of Channel B
35  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
36  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
37
38  }
39  else if ( c == 'B')
40  {
41  //Motor A backword @ full   speed
42  digitalWrite(12, LOW); //Establishes backword direction of Channel A
43   digitalWrite(9, LOW);   //Disengage the Brake for Channel A
44  analogWrite(3,   200);   //Spins the motor on Channel A at full speed
45
46  //Motor B backword   @ full speed
47  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
48  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
49  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
50  }
51
52   else if (   c == 'D')
53  {
54  //Motor A backword @ full speed
55  digitalWrite(12, LOW);   //Establishes backword direction of Channel A
56  digitalWrite(9, LOW);   //Disengage   the Brake for Channel A
57  analogWrite(3, 200);   //Spins the motor on Channel   A at full speed
58
59  //Motor B backword @ full speed
60  digitalWrite(13, HIGH);   //Establishes backword direction of Channel B
61  digitalWrite(8, LOW);   //Disengage   the Brake for Channel B
62  analogWrite(11, 200);   //Spins the motor on Channel   B at full speed
63  }
64    else if ( c == 'E')
65  {
66  //Motor A backword   @ full speed
67  digitalWrite(12, HIGH); //Establishes backword direction of Channel   A
68  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
69  analogWrite(3,   200);   //Spins the motor on Channel A at full speed
70
71  //Motor B backword   @ full speed
72  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
73  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
74  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
75  }
76    else if ( c ==   'F')
77  {
78  //Motor A backword @ full speed
79  digitalWrite(12, HIGH); //Establishes   backword direction of Channel A
80  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
81  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed
82
83  //Motor B backword @ full speed
84  digitalWrite(13, LOW); //Establishes   backword direction of Channel B
85  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
86  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
87  }
88    else if ( c == 'G')
89  {
90  //Motor A backword @ full speed
91   digitalWrite(12, LOW); //Establishes backword direction of Channel A
92  digitalWrite(9,   LOW);   //Disengage the Brake for Channel A
93  analogWrite(3, 200);   //Spins   the motor on Channel A at full speed
94
95  //Motor B backword @ full speed
96   digitalWrite(13, HIGH); //Establishes backword direction of Channel B
97  digitalWrite(8,   LOW);   //Disengage the Brake for Channel B
98  analogWrite(11, 200);   //Spins   the motor on Channel B at full speed
99  }
100 else if ( c == 'C')
101  {
102     
103       digitalWrite(8, HIGH);  //Engage the Brake for Channel B
104      digitalWrite(9,   HIGH);  //Engage the Brake for Channel A
105
106  }
107
108}
109

1// Start the I2C Bus as Slave 1
2
3#include <Wire.h>
4void setup()   
5{
6  Wire.begin(1); // Adress 1
7  Wire.onReceive(reciveEvent);
8
9     //Setup Channel A
10  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
11   pinMode(9, OUTPUT); //Initiates Brake Channel A pin
12
13  //Setup Channel B
14   pinMode(13, OUTPUT); //Initiates Motor Channel A pin
15  pinMode(8, OUTPUT);   //Initiates Brake Channel A pin
16}
17
18void loop() 
19{
20}
21
22void   reciveEvent ( int howMany)
23{
24  char c = Wire.read();
25  if ( c == 'A')
26   {
27     
28  //Motor A forward @ full speed
29  digitalWrite(12, HIGH); //Establishes   forward direction of Channel A
30  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
31  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed
32
33  //Motor B forward @ full speed
34  digitalWrite(13, HIGH); //Establishes   forward direction of Channel B
35  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
36  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
37
38  }
39  else if ( c == 'B')
40  {
41  //Motor A backword @ full   speed
42  digitalWrite(12, LOW); //Establishes backword direction of Channel A
43   digitalWrite(9, LOW);   //Disengage the Brake for Channel A
44  analogWrite(3,   200);   //Spins the motor on Channel A at full speed
45
46  //Motor B backword   @ full speed
47  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
48  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
49  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
50  }
51
52   else if (   c == 'D')
53  {
54  //Motor A backword @ full speed
55  digitalWrite(12, LOW);   //Establishes backword direction of Channel A
56  digitalWrite(9, LOW);   //Disengage   the Brake for Channel A
57  analogWrite(3, 200);   //Spins the motor on Channel   A at full speed
58
59  //Motor B backword @ full speed
60  digitalWrite(13, HIGH);   //Establishes backword direction of Channel B
61  digitalWrite(8, LOW);   //Disengage   the Brake for Channel B
62  analogWrite(11, 200);   //Spins the motor on Channel   B at full speed
63  }
64
65  else if ( c == 'E')
66  {
67  //Motor A backword   @ full speed
68  digitalWrite(12, HIGH); //Establishes backword direction of Channel   A
69  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
70  analogWrite(3,   200);   //Spins the motor on Channel A at full speed
71
72  //Motor B backword   @ full speed
73  digitalWrite(13, LOW); //Establishes backword direction of Channel   B
74  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
75  analogWrite(11,   200);   //Spins the motor on Channel B at full speed
76  }
77    else if ( c ==   'F')
78  {
79  //Motor A backword @ full speed
80  digitalWrite(12, LOW); //Establishes   backword direction of Channel A
81  digitalWrite(9, LOW);   //Disengage the Brake   for Channel A
82  analogWrite(3, 200);   //Spins the motor on Channel A at full   speed
83
84  //Motor B backword @ full speed
85  digitalWrite(13, HIGH); //Establishes   backword direction of Channel B
86  digitalWrite(8, LOW);   //Disengage the Brake   for Channel B
87  analogWrite(11, 200);   //Spins the motor on Channel B at full   speed
88  }
89  else if ( c == 'G')
90  {
91  //Motor A backword @ full speed
92   digitalWrite(12, HIGH); //Establishes backword direction of Channel A
93  digitalWrite(9,   LOW);   //Disengage the Brake for Channel A
94  analogWrite(3, 200);   //Spins   the motor on Channel A at full speed
95
96  //Motor B backword @ full speed
97   digitalWrite(13, LOW); //Establishes backword direction of Channel B
98  digitalWrite(8,   LOW);   //Disengage the Brake for Channel B
99  analogWrite(11, 200);   //Spins   the motor on Channel B at full speed
100  }
101 else if ( c == 'C')
102  {
103     
104       digitalWrite(8, HIGH);  //Engage the Brake for Channel B
105      digitalWrite(9,   HIGH);  //Engage the Brake for Channel A
106
107  }
108
109}
110

1//This sketch created by Dimitris Kagioulis.You can modify it at your   need.
2//Library belongs to Kristian Sloth Lauszus
3
4#include <PS3BT.h>
5#include   <Wire.h>
6
7
8USB Usb;
9BTD Btd(&Usb);
10PS3BT PS3(&Btd);
11
12int sensor1   = A0;
13int sensor2 = A1;
14int sensor3 = A2;
15
16void setup() {
17
18  Serial.begin(9600);
19   Wire.begin();  // 0 adress of Master
20  
21  if (Usb.Init() == -1) {
22    Serial.print(F("\
\
23OSC   did not start"));
24    while (1); //halt
25  }
26
27 pinMode(sensor1, INPUT);
28   pinMode(sensor2, INPUT);
29 pinMode(sensor3, INPUT);
30 
31}
32
33void loop()   
34{
35
36  long safety1 = digitalRead(sensor1);
37  long safety2 = digitalRead(sensor2);
38   long safety3 = digitalRead(sensor3);
39  
40  Usb.Task();
41
42    char c   = Serial.read();
43  
44  
45
46
47  if (PS3.PS3Connected || PS3.PS3NavigationConnected)   {
48
49    if (PS3.getButtonPress(UP)) {
50      if(safety1 == LOW){
51    Wire.beginTransmission(1);   // transmit to device #1
52    Wire.write( 'A' );            
53    Wire.endTransmission();     // stop transmitting
54
55    Wire.beginTransmission(2); // transmit to device   #2
56    Wire.write( 'A' );            
57    Wire.endTransmission();    // stop   transmitting  
58      }
59        else if (safety1 == HIGH){
60    Wire.beginTransmission(1);   // transmit to device #1
61    Wire.write( 'C' );            
62    Wire.endTransmission();     // stop transmitting
63
64    Wire.beginTransmission(2); // transmit to device   #2
65    Wire.write( 'C' );            
66    Wire.endTransmission();    // stop   transmitting
67  }
68    }
69    else  if  (PS3.getButtonPress(DOWN)) {
70    Wire.beginTransmission(1);   // transmit to device #1
71    Wire.write( 'B' );            
72    Wire.endTransmission();     // stop transmitting
73
74    Wire.beginTransmission(2); // transmit to device   #2
75    Wire.write( 'B' );            
76    Wire.endTransmission();    // stop   transmitting    
77 
78    }
79
80       else  if  (PS3.getButtonPress(RIGHT))   {
81        if(safety2 == LOW){
82    Wire.beginTransmission(1); // transmit to   device #1
83    Wire.write( 'D' );            
84    Wire.endTransmission();    //   stop transmitting
85
86    Wire.beginTransmission(2); // transmit to device #2
87     Wire.write( 'D' );            
88    Wire.endTransmission();    // stop transmitting     
89        }
90        else if (safety2 == HIGH){
91    Wire.beginTransmission(1);   // transmit to device #1
92    Wire.write( 'C' );            
93    Wire.endTransmission();     // stop transmitting
94
95    Wire.beginTransmission(2); // transmit to device   #2
96    Wire.write( 'C' );            
97    Wire.endTransmission();    // stop   transmitting
98        }
99    }
100        else  if  (PS3.getButtonPress(LEFT))   {
101          if(safety3 == LOW){
102    Wire.beginTransmission(1); // transmit   to device #1
103    Wire.write( 'E' );            
104    Wire.endTransmission();     // stop transmitting
105
106    Wire.beginTransmission(2); // transmit to device   #2
107    Wire.write( 'E' );            
108    Wire.endTransmission();    // stop   transmitting    
109          }
110        else if (safety3 == HIGH){
111    Wire.beginTransmission(1);   // transmit to device #1
112    Wire.write( 'C' );            
113    Wire.endTransmission();     // stop transmitting
114
115    Wire.beginTransmission(2); // transmit to device   #2
116    Wire.write( 'C' );            
117    Wire.endTransmission();    // stop   transmitting   
118        }
119    }
120     else  if  (PS3.getButtonPress(CIRCLE))   {
121      
122    Wire.beginTransmission(1); // transmit to device #1
123    Wire.write(   'F' );            
124    Wire.endTransmission();    // stop transmitting
125
126     Wire.beginTransmission(2); // transmit to device #2
127    Wire.write( 'F' );             
128    Wire.endTransmission();    // stop transmitting 
129      
130      }
131        else  if  (PS3.getButtonPress(SQUARE)) {
132          
133    Wire.beginTransmission(1);   // transmit to device #1
134    Wire.write( 'G' );            
135    Wire.endTransmission();     // stop transmitting
136
137    Wire.beginTransmission(2); // transmit to device   #2
138    Wire.write( 'G' );            
139    Wire.endTransmission();    // stop   transmitting 
140     }
141  else
142  {
143    Wire.beginTransmission(1); // transmit   to device #1
144    Wire.write( 'C' );            
145    Wire.endTransmission();     // stop transmitting
146
147    Wire.beginTransmission(2); // transmit to device   #2
148    Wire.write( 'C' );            
149    Wire.endTransmission();    // stop   transmitting
150  }
151 
152
153   if (PS3.PS3Connected) {
154
155      if (PS3.getButtonClick(PS))   {
156        PS3.disconnect();
157      }
158    }
159  
160  }
161  
162  }
163
164   
165
166

1// Start the I2C Bus as Slave 1
2
3#include <Wire.h>
4void setup()
5  
6{
7  Wire.begin(1); // Adress 1
8  Wire.onReceive(reciveEvent);
9
10
11    //Setup Channel A
12  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
13
14  pinMode(9, OUTPUT); //Initiates Brake Channel A pin
15
16  //Setup Channel B
17
18  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
19  pinMode(8, OUTPUT);
20  //Initiates Brake Channel A pin
21}
22
23void loop() 
24{
25}
26
27void
28  reciveEvent ( int howMany)
29{
30  char c = Wire.read();
31  if ( c == 'A')
32
33  {
34     
35  //Motor A forward @ full speed
36  digitalWrite(12, HIGH); //Establishes
37  forward direction of Channel A
38  digitalWrite(9, LOW);   //Disengage the Brake
39  for Channel A
40  analogWrite(3, 200);   //Spins the motor on Channel A at full
41  speed
42
43  //Motor B forward @ full speed
44  digitalWrite(13, HIGH); //Establishes
45  forward direction of Channel B
46  digitalWrite(8, LOW);   //Disengage the Brake
47  for Channel B
48  analogWrite(11, 200);   //Spins the motor on Channel B at full
49  speed
50
51  }
52  else if ( c == 'B')
53  {
54  //Motor A backword @ full
55  speed
56  digitalWrite(12, LOW); //Establishes backword direction of Channel A
57
58  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
59  analogWrite(3,
60  200);   //Spins the motor on Channel A at full speed
61
62  //Motor B backword
63  @ full speed
64  digitalWrite(13, LOW); //Establishes backword direction of Channel
65  B
66  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
67  analogWrite(11,
68  200);   //Spins the motor on Channel B at full speed
69  }
70
71   else if (
72  c == 'D')
73  {
74  //Motor A backword @ full speed
75  digitalWrite(12, LOW);
76  //Establishes backword direction of Channel A
77  digitalWrite(9, LOW);   //Disengage
78  the Brake for Channel A
79  analogWrite(3, 200);   //Spins the motor on Channel
80  A at full speed
81
82  //Motor B backword @ full speed
83  digitalWrite(13, HIGH);
84  //Establishes backword direction of Channel B
85  digitalWrite(8, LOW);   //Disengage
86  the Brake for Channel B
87  analogWrite(11, 200);   //Spins the motor on Channel
88  B at full speed
89  }
90
91  else if ( c == 'E')
92  {
93  //Motor A backword
94  @ full speed
95  digitalWrite(12, HIGH); //Establishes backword direction of Channel
96  A
97  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
98  analogWrite(3,
99  200);   //Spins the motor on Channel A at full speed
100
101  //Motor B backword
102  @ full speed
103  digitalWrite(13, LOW); //Establishes backword direction of Channel
104  B
105  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
106  analogWrite(11,
107  200);   //Spins the motor on Channel B at full speed
108  }
109    else if ( c ==
110  'F')
111  {
112  //Motor A backword @ full speed
113  digitalWrite(12, LOW); //Establishes
114  backword direction of Channel A
115  digitalWrite(9, LOW);   //Disengage the Brake
116  for Channel A
117  analogWrite(3, 200);   //Spins the motor on Channel A at full
118  speed
119
120  //Motor B backword @ full speed
121  digitalWrite(13, HIGH); //Establishes
122  backword direction of Channel B
123  digitalWrite(8, LOW);   //Disengage the Brake
124  for Channel B
125  analogWrite(11, 200);   //Spins the motor on Channel B at full
126  speed
127  }
128  else if ( c == 'G')
129  {
130  //Motor A backword @ full speed
131
132  digitalWrite(12, HIGH); //Establishes backword direction of Channel A
133  digitalWrite(9,
134  LOW);   //Disengage the Brake for Channel A
135  analogWrite(3, 200);   //Spins
136  the motor on Channel A at full speed
137
138  //Motor B backword @ full speed
139
140  digitalWrite(13, LOW); //Establishes backword direction of Channel B
141  digitalWrite(8,
142  LOW);   //Disengage the Brake for Channel B
143  analogWrite(11, 200);   //Spins
144  the motor on Channel B at full speed
145  }
146 else if ( c == 'C')
147  {
148     
149
150      digitalWrite(8, HIGH);  //Engage the Brake for Channel B
151      digitalWrite(9,
152  HIGH);  //Engage the Brake for Channel A
153
154  }
155
156}
157

1//This sketch created by Dimitris Kagioulis.You can modify it at your
2  need.
3//Library belongs to Kristian Sloth Lauszus
4
5#include <PS3BT.h>
6#include
7  <Wire.h>
8
9
10USB Usb;
11BTD Btd(&Usb);
12PS3BT PS3(&Btd);
13
14int sensor1
15  = A0;
16int sensor2 = A1;
17int sensor3 = A2;
18
19void setup() {
20
21  Serial.begin(9600);
22
23  Wire.begin();  // 0 adress of Master
24  
25  if (Usb.Init() == -1) {
26    Serial.print(F("\
\
27OSC
28  did not start"));
29    while (1); //halt
30  }
31
32 pinMode(sensor1, INPUT);
33
34  pinMode(sensor2, INPUT);
35 pinMode(sensor3, INPUT);
36 
37}
38
39void loop()
40  
41{
42
43  long safety1 = digitalRead(sensor1);
44  long safety2 = digitalRead(sensor2);
45
46  long safety3 = digitalRead(sensor3);
47  
48  Usb.Task();
49
50    char c
51  = Serial.read();
52  
53  
54
55
56  if (PS3.PS3Connected || PS3.PS3NavigationConnected)
57  {
58
59    if (PS3.getButtonPress(UP)) {
60      if(safety1 == LOW){
61    Wire.beginTransmission(1);
62  // transmit to device #1
63    Wire.write( 'A' );            
64    Wire.endTransmission();
65    // stop transmitting
66
67    Wire.beginTransmission(2); // transmit to device
68  #2
69    Wire.write( 'A' );            
70    Wire.endTransmission();    // stop
71  transmitting  
72      }
73        else if (safety1 == HIGH){
74    Wire.beginTransmission(1);
75  // transmit to device #1
76    Wire.write( 'C' );            
77    Wire.endTransmission();
78    // stop transmitting
79
80    Wire.beginTransmission(2); // transmit to device
81  #2
82    Wire.write( 'C' );            
83    Wire.endTransmission();    // stop
84  transmitting
85  }
86    }
87    else  if  (PS3.getButtonPress(DOWN)) {
88    Wire.beginTransmission(1);
89  // transmit to device #1
90    Wire.write( 'B' );            
91    Wire.endTransmission();
92    // stop transmitting
93
94    Wire.beginTransmission(2); // transmit to device
95  #2
96    Wire.write( 'B' );            
97    Wire.endTransmission();    // stop
98  transmitting    
99 
100    }
101
102       else  if  (PS3.getButtonPress(RIGHT))
103  {
104        if(safety2 == LOW){
105    Wire.beginTransmission(1); // transmit to
106  device #1
107    Wire.write( 'D' );            
108    Wire.endTransmission();    //
109  stop transmitting
110
111    Wire.beginTransmission(2); // transmit to device #2
112
113    Wire.write( 'D' );            
114    Wire.endTransmission();    // stop transmitting
115    
116        }
117        else if (safety2 == HIGH){
118    Wire.beginTransmission(1);
119  // transmit to device #1
120    Wire.write( 'C' );            
121    Wire.endTransmission();
122    // stop transmitting
123
124    Wire.beginTransmission(2); // transmit to device
125  #2
126    Wire.write( 'C' );            
127    Wire.endTransmission();    // stop
128  transmitting
129        }
130    }
131        else  if  (PS3.getButtonPress(LEFT))
132  {
133          if(safety3 == LOW){
134    Wire.beginTransmission(1); // transmit
135  to device #1
136    Wire.write( 'E' );            
137    Wire.endTransmission();
138    // stop transmitting
139
140    Wire.beginTransmission(2); // transmit to device
141  #2
142    Wire.write( 'E' );            
143    Wire.endTransmission();    // stop
144  transmitting    
145          }
146        else if (safety3 == HIGH){
147    Wire.beginTransmission(1);
148  // transmit to device #1
149    Wire.write( 'C' );            
150    Wire.endTransmission();
151    // stop transmitting
152
153    Wire.beginTransmission(2); // transmit to device
154  #2
155    Wire.write( 'C' );            
156    Wire.endTransmission();    // stop
157  transmitting   
158        }
159    }
160     else  if  (PS3.getButtonPress(CIRCLE))
161  {
162      
163    Wire.beginTransmission(1); // transmit to device #1
164    Wire.write(
165  'F' );            
166    Wire.endTransmission();    // stop transmitting
167
168
169    Wire.beginTransmission(2); // transmit to device #2
170    Wire.write( 'F' );
171            
172    Wire.endTransmission();    // stop transmitting 
173      
174
175     }
176        else  if  (PS3.getButtonPress(SQUARE)) {
177          
178    Wire.beginTransmission(1);
179  // transmit to device #1
180    Wire.write( 'G' );            
181    Wire.endTransmission();
182    // stop transmitting
183
184    Wire.beginTransmission(2); // transmit to device
185  #2
186    Wire.write( 'G' );            
187    Wire.endTransmission();    // stop
188  transmitting 
189     }
190  else
191  {
192    Wire.beginTransmission(1); // transmit
193  to device #1
194    Wire.write( 'C' );            
195    Wire.endTransmission();
196    // stop transmitting
197
198    Wire.beginTransmission(2); // transmit to device
199  #2
200    Wire.write( 'C' );            
201    Wire.endTransmission();    // stop
202  transmitting
203  }
204 
205
206   if (PS3.PS3Connected) {
207
208      if (PS3.getButtonClick(PS))
209  {
210        PS3.disconnect();
211      }
212    }
213  
214  }
215  
216  }
217
218
219  
220
221

1// Start the I2C Bus as Slave 2
2
3#include <Wire.h>
4void setup()
5  
6{
7  Wire.begin(2); // Adress 2
8  Wire.onReceive(reciveEvent);
9
10
11    //Setup Channel A
12  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
13
14  pinMode(9, OUTPUT); //Initiates Brake Channel A pin
15
16  //Setup Channel B
17
18  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
19  pinMode(8, OUTPUT);
20  //Initiates Brake Channel A pin
21}
22
23void loop() 
24{
25}
26
27void
28  reciveEvent ( int howMany)
29{
30  char c = Wire.read();
31  if ( c == 'A')
32
33  {
34     
35  //Motor A forward @ full speed
36  digitalWrite(12, HIGH); //Establishes
37  forward direction of Channel A
38  digitalWrite(9, LOW);   //Disengage the Brake
39  for Channel A
40  analogWrite(3, 200);   //Spins the motor on Channel A at full
41  speed
42
43  //Motor B forward @ full speed
44  digitalWrite(13, HIGH); //Establishes
45  forward direction of Channel B
46  digitalWrite(8, LOW);   //Disengage the Brake
47  for Channel B
48  analogWrite(11, 200);   //Spins the motor on Channel B at full
49  speed
50
51  }
52  else if ( c == 'B')
53  {
54  //Motor A backword @ full
55  speed
56  digitalWrite(12, LOW); //Establishes backword direction of Channel A
57
58  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
59  analogWrite(3,
60  200);   //Spins the motor on Channel A at full speed
61
62  //Motor B backword
63  @ full speed
64  digitalWrite(13, LOW); //Establishes backword direction of Channel
65  B
66  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
67  analogWrite(11,
68  200);   //Spins the motor on Channel B at full speed
69  }
70
71   else if (
72  c == 'D')
73  {
74  //Motor A backword @ full speed
75  digitalWrite(12, LOW);
76  //Establishes backword direction of Channel A
77  digitalWrite(9, LOW);   //Disengage
78  the Brake for Channel A
79  analogWrite(3, 200);   //Spins the motor on Channel
80  A at full speed
81
82  //Motor B backword @ full speed
83  digitalWrite(13, HIGH);
84  //Establishes backword direction of Channel B
85  digitalWrite(8, LOW);   //Disengage
86  the Brake for Channel B
87  analogWrite(11, 200);   //Spins the motor on Channel
88  B at full speed
89  }
90    else if ( c == 'E')
91  {
92  //Motor A backword
93  @ full speed
94  digitalWrite(12, HIGH); //Establishes backword direction of Channel
95  A
96  digitalWrite(9, LOW);   //Disengage the Brake for Channel A
97  analogWrite(3,
98  200);   //Spins the motor on Channel A at full speed
99
100  //Motor B backword
101  @ full speed
102  digitalWrite(13, LOW); //Establishes backword direction of Channel
103  B
104  digitalWrite(8, LOW);   //Disengage the Brake for Channel B
105  analogWrite(11,
106  200);   //Spins the motor on Channel B at full speed
107  }
108    else if ( c ==
109  'F')
110  {
111  //Motor A backword @ full speed
112  digitalWrite(12, HIGH); //Establishes
113  backword direction of Channel A
114  digitalWrite(9, LOW);   //Disengage the Brake
115  for Channel A
116  analogWrite(3, 200);   //Spins the motor on Channel A at full
117  speed
118
119  //Motor B backword @ full speed
120  digitalWrite(13, LOW); //Establishes
121  backword direction of Channel B
122  digitalWrite(8, LOW);   //Disengage the Brake
123  for Channel B
124  analogWrite(11, 200);   //Spins the motor on Channel B at full
125  speed
126  }
127    else if ( c == 'G')
128  {
129  //Motor A backword @ full speed
130
131  digitalWrite(12, LOW); //Establishes backword direction of Channel A
132  digitalWrite(9,
133  LOW);   //Disengage the Brake for Channel A
134  analogWrite(3, 200);   //Spins
135  the motor on Channel A at full speed
136
137  //Motor B backword @ full speed
138
139  digitalWrite(13, HIGH); //Establishes backword direction of Channel B
140  digitalWrite(8,
141  LOW);   //Disengage the Brake for Channel B
142  analogWrite(11, 200);   //Spins
143  the motor on Channel B at full speed
144  }
145 else if ( c == 'C')
146  {
147     
148
149      digitalWrite(8, HIGH);  //Engage the Brake for Channel B
150      digitalWrite(9,
151  HIGH);  //Engage the Brake for Channel A
152
153  }
154
155}
156