hi
io have this osoyoo code (below). i want to replace the std H bridge l298 motor driver with a much powerful roboclaw 30a. i have to change the way the Arduino mega communicates with the dirver. need help with amending the osoyoo code to accommodate the new serial communication used with roboclaw. is there a quck
code to replace in the osoyoo supplied code?
thanks
the osoyoo code:
/* ___ ___ ___ _ _ ___ ___ ____ ___ ____
* / _ \ /___)/ _ \| | | |/ _ \ / _ \ / ___) _ \| \
*| |_| |___ | |_| | |_| | |_| | |_| ( (__| |_| | | | |
* \___/(___/ \___/ \__ |\___/ \___(_)____)___/|_|_|_|
* (____/
* Arduino Mecanum Omni Direction Wheel Robot Car
* Tutorial URL http://osoyoo.com/?p=30022
* CopyRight www.osoyoo.com
* After running the code, smart car will
* go forward and go backward for 2 seconds,
* left turn and right turn for 2 seconds,
* right shift and left shift for 2 seconds,
* left diagonal back and right diagonal forward for 2 seconds,
* left diagonal forward and right diagonal back for 2 seconds,
* then stop.
*
*/
#define SPEED 140
#define TURN_SPEED 160
#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,HIGH);
digitalWrite(RightMotorDirPin2,LOW);
analogWrite(speedPinR,speed);
}
void FR_bck(int speed) // front-right wheel backward turn
{
digitalWrite(RightMotorDirPin1,LOW);
digitalWrite(RightMotorDirPin2,HIGH);
analogWrite(speedPinR,speed);
}
void FL_fwd(int speed) // front-left wheel forward turn
{
digitalWrite(LeftMotorDirPin1,HIGH);
digitalWrite(LeftMotorDirPin2,LOW);
analogWrite(speedPinL,speed);
}
void FL_bck(int speed) // front-left wheel backward turn
{
digitalWrite(LeftMotorDirPin1,LOW);
digitalWrite(LeftMotorDirPin2,HIGH);
analogWrite(speedPinL,speed);
}
void RR_fwd(int speed) //rear-right wheel forward turn
{
digitalWrite(RightMotorDirPin1B, HIGH);
digitalWrite(RightMotorDirPin2B,LOW);
analogWrite(speedPinRB,speed);
}
void RR_bck(int speed) //rear-right wheel backward turn
{
digitalWrite(RightMotorDirPin1B, LOW);
digitalWrite(RightMotorDirPin2B,HIGH);
analogWrite(speedPinRB,speed);
}
void RL_fwd(int speed) //rear-left wheel forward turn
{
digitalWrite(LeftMotorDirPin1B,HIGH);
digitalWrite(LeftMotorDirPin2B,LOW);
analogWrite(speedPinLB,speed);
}
void RL_bck(int speed) //rear-left wheel backward turn
{
digitalWrite(LeftMotorDirPin1B,LOW);
digitalWrite(LeftMotorDirPin2B,HIGH);
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(){
}