/*
 * Code to control 2 DC motors using Arduino Motor Shield (Basic Code)
 * Written by Ahmad Shamshiri for Robojax.com on August 28, 2018 at 21:33 in Ajax, Ontario, Canada
 * Watch video instruction for this code:https://youtu.be/kIgbjyqNrV8
 * Watch how to use current sensing with Motor Shield : https://youtu.be/-uQKBDTWHPM
 * 
 * This code has been downloaded from Robojax.com
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <https://www.gnu.org/licenses/>.
 * 
 */
const int MotorPinA = 12; // for motor A
const int MotorSpeedPinA = 3; // for motor A
const int MotorBrakePinA = 9; // for motor A


const int MotorPinB = 13; // for motor B
const int MotorSpeedPinB = 11;// for motor B
const int MotorBrakePinB = 8;// for motor B

const int CW  = HIGH;
const int CCW = LOW;

void setup() {
  // motor A pin assignment
  pinMode(MotorPinA, OUTPUT);
  pinMode(MotorSpeedPinA, OUTPUT);
  pinMode(MotorBrakePinA, OUTPUT);

  // motor B pin assignment
  pinMode(MotorPinB, OUTPUT);
  pinMode(MotorSpeedPinB, OUTPUT);
  pinMode(MotorBrakePinB, OUTPUT); 


  Serial.begin(9600);//  serial monitor initialized 

}

void loop() {

  //start motor A at maximum speed
  digitalWrite(MotorPinB, CW);// set direction
      Serial.println("Direction CW"); 
  analogWrite(MotorSpeedPinB, 100);// set speed at maximum
      Serial.println("Speed 100");
  delay(5000);// run for 5 seconds
  digitalWrite(MotorBrakePinB, HIGH);// brake
      Serial.println("Brake applied");
  delay(2000);  
  digitalWrite(MotorBrakePinB,LOW);// release brake
      Serial.println("Brake removed");  
  analogWrite(MotorSpeedPinB, 70);// set to 1/3
      Serial.println("Speed at 70");  
  delay(5000);// 



}// loop end

++
/*
 * Code to control 2 DC motors using Arduino Motor Shield (Advanced)
 * Using this code you can control 2 motors very easily
 * 
 * Written by Ahmad Shamshiri for Robojax.com on August 28, 2018 at 21:33 in Ajax, Ontario, Canada
 * Watch video instruction for this code:https://youtu.be/kIgbjyqNrV8
 * 
 * This code has been downloaded from Robojax.com
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <https://www.gnu.org/licenses/>.
 * 
 */
const int MotorPinA = 12;
const int MotorSpeedPinA = 3;
const int MotorBrakePinA = 9;


const int MotorPinB = 13;
const int MotorSpeedPinB = 11;
const int MotorBrakePinB = 8;

const int CW  = HIGH;
const int CCW = LOW;

const int showComments = 1;// show comments in serial monitor

void setup() {
  // motor A pin assignment
  pinMode(MotorPinA, OUTPUT);
  pinMode(MotorSpeedPinA, OUTPUT);
  pinMode(MotorBrakePinA, OUTPUT);

  // motor B pin assignment
  pinMode(MotorPinB, OUTPUT);
  pinMode(MotorSpeedPinB, OUTPUT);
  pinMode(MotorBrakePinB, OUTPUT); 


  Serial.begin(9600);//  serial monitor initialized

}

void loop() {
  brake('A', 0); // release brake
    brake('B', 0); // release brake
  moveMotor('A', CCW, 100);// motor A rotate CCW at 100 PWM value
    moveMotor('B', CW, 145);// motor B rotate CW at 145 PWM value
  delay(3000);
  brake('A',1);
  brake('A',0);
    brake('B',1);
  brake('B',0);
  moveMotor('A', CW, 255);
      moveMotor('B', CCW, 145);  
  delay(5000);
  brake('A',1);


}// loop end



/*
 * 
 * Written by Ahmad Shamshiri August 29, 2018 at 20:59 in Ajax, Ontario, Canada 
 * moveMotor controls the motor
  @param motor is char A or B referring to motor A or B.
  @param dir is motor direction, CW or CCW
  @param speed is PWM value between 0 to 255

  Example 1: to start moving motor A in CW direction with 135 PWM value
  moveMotor('A', CW, 135);

  Example 2: to start moving motor B in CCW direction with 200 PWM value
  moveMotor('B', CCW, 200);  
 */

void moveMotor(char motor, int dir, int speed)
{
  int motorPin;
  int motorSpeedPin;
  
  if(motor =='A')
  {
    motorPin      = MotorPinA;
    motorSpeedPin = MotorSpeedPinA;  
  }else{
    motorPin      = MotorPinB;
    motorSpeedPin = MotorSpeedPinB;     
  }
   digitalWrite(motorPin, dir);// set direction for motor
   analogWrite(motorSpeedPin, speed);// set speed of motor   
}//moveMotor end

/*
 * brake, stops the motor, or releases the brake
 * @param motor is character A or B
 * @param brk if 1, brake; if 0, release brake
 * example of usage:
 * brake('A', 1);// applies brake to motor A
 * brake('A', 0);// releases brake from motor A
 */
void brake(char motor, int brk)
{
  if(motor =='A')
  {
    digitalWrite(MotorBrakePinA, brk);// brake
    delay(1000);
  }else{
    digitalWrite(MotorBrakePinB, brk);// brake
    delay(1000);
   
  }
}