/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\* TestRun.ino TB6612FNG H-Bridge Motor Driver Example code Michelle @ SparkFun Electronics 8/20/16 https://github.com/sparkfun/SparkFun\_TB6612FNG\_Arduino\_Library
Uses 2 motors to show examples of the functions in the library. This causes a robot to do a little 'jig'. Each movement has an equal and opposite movement so assuming your motors are balanced the bot should end up at the same place it started.
Resources: TB6612 SparkFun Library
Development environment specifics: Developed on Arduino 1.6.4 Developed with ROB-9457 \*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*/
// This is the library for the TB6612 that contains the class Motor and all the // functions #include <SparkFun\_TB6612.h>
// Pins for all inputs, keep in mind the PWM defines must be on PWM pins // the default pins listed are the ones used on the Redbot (ROB-12097) with // the exception of STBY which the Redbot controls with a physical switch #define PWMA 5 #define AIN1 2 #define AIN2 3
#define BIN1 7 #define BIN2 8 #define PWMB 6
#define STBY 5
// these constants are used to allow you to make your motor configuration // line up with function names like forward. Value can be 1 or -1 const int offsetA = 1; const int offsetB = 1;
// Initializing motors. The library will allow you to initialize as many // motors as you have memory for. If you are using functions like forward // that take 2 motors as arguements you can either write new functions or // call the function more than once. Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY); Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);
void setup() { //Nothing here }
void loop() { //Use of the drive function which takes as arguements the speed //and optional duration. A negative speed will cause it to go //backwards. Speed can be from -255 to 255. Also use of the //brake function which takes no arguements. motor1.drive(255,1000); motor1.drive(-255,1000); motor1.brake(); delay(1000); //Use of the drive function which takes as arguements the speed //and optional duration. A negative speed will cause it to go //backwards. Speed can be from -255 to 255. Also use of the //brake function which takes no arguements. motor2.drive(255,1000); motor2.drive(-255,1000); motor2.brake(); delay(1000); //Use of the forward function, which takes as arguements two motors //and optionally a speed. If a negative number is used for speed //it will go backwards forward(motor1, motor2, 150); delay(1000); //Use of the back function, which takes as arguments two motors //and optionally a speed. Either a positive number or a negative //number for speed will cause it to go backwards back(motor1, motor2, -150); delay(1000); //Use of the brake function which takes as arguments two motors. //Note that functions do not stop motors on their own. brake(motor1, motor2); delay(1000); //Use of the left and right functions which take as arguements two //motors and a speed. This function turns both motors to move in //the appropriate direction. For turning a single motor use drive. left(motor1, motor2, 100); delay(1000); right(motor1, motor2, 100); delay(1000); //Use of brake again. brake(motor1, motor2); delay(1000); }
