marcgenevat
commented
8 years ago Us passo el codi que vaig utilitzar en el projecte de la plataforma omnidireccional de tres rodes que controlavem amb LeapMotion la qual tenia un parell de les shield de Adafruit. Espero que et serveixi @oriolorra!
`#include < Wire.h >
include < Adafruit_MotorShield.h >
include "utility/Adafruit_PWMServoDriver.h"
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor myMotor1 = AFMS.getMotor(1); Adafruit_DCMotor myMotor2 = AFMS.getMotor(2); Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3);
char movement; int vel = 255;
void setup() { Serial.begin(9600); // set up Serial library at 9600 bps Serial.println("Adafruit Motorshield v2 - DC Motor test!");
AFMS.begin(); // create with the default frequency 1.6KHz //AFMS.begin(1000); // OR with a different frequency, say 1KHz }
void Forward() { myMotor1->setSpeed(vel); myMotor2->setSpeed(vel);
myMotor1->run(FORWARD); myMotor2->run(BACKWARD); myMotor3->run(RELEASE); }
void Backward() { myMotor1->setSpeed(vel); myMotor2->setSpeed(vel);
myMotor1->run(BACKWARD); myMotor2->run(FORWARD); myMotor3->run(RELEASE); }
void Left() { myMotor1->setSpeed(vel); myMotor2->setSpeed(vel); myMotor3->setSpeed(vel);
myMotor1->run(FORWARD); myMotor2->run(FORWARD); myMotor3->run(BACKWARD); }
void Right() { myMotor1->setSpeed(vel); myMotor2->setSpeed(vel); myMotor3->setSpeed(vel);
myMotor1->run(BACKWARD); myMotor2->run(BACKWARD); myMotor3->run(FORWARD); }
void Left_Rotation() { myMotor1->setSpeed(vel); myMotor2->setSpeed(vel); myMotor3->setSpeed(vel);
myMotor1->run(FORWARD); myMotor2->run(FORWARD); myMotor3->run(FORWARD); }
void Right_Rotation() { myMotor1->setSpeed(vel); myMotor2->setSpeed(vel); myMotor3->setSpeed(vel);
myMotor1->run(BACKWARD); myMotor2->run(BACKWARD); myMotor3->run(BACKWARD); }
void Break() { myMotor1->run(RELEASE); myMotor2->run(RELEASE); myMotor3->run(RELEASE); }
void loop() { uint8_t i; while(!Serial.available()); movement = Serial.read(); switch (movement) { case 'B': Backward(); while(movement == 'B') {movement = Serial.read();} Break(); break; case 'F': Forward(); while(movement == 'F') {movement = Serial.read();} Break(); break; case 'L': Left(); while(movement == 'L') {movement = Serial.read();} Break(); break; case 'R': Right(); while(movement == 'R') {movement = Serial.read();} Break(); break; case 'X': Left_Rotation(); while(movement == 'X') {movement = Serial.read();} Break(); break; case 'Y': Right_Rotation(); while(movement == 'Y') {movement = Serial.read();} Break(); break; default: Break(); break; } }`
oriolorra
See: https://learn.adafruit.com/adafruit-motor-shield-v2-for-arduino/using-dc-motors