++
/*
 * Code to control 2 DC motors using DFRobot Arduino Motor Shield (Basic Code)
 * Written by Ahmad Shamshiri for Robojax.com on September 2, 2018 at 9:57 in Ajax, Ontario, Canada
 * Watch video instruction for this code:https://youtu.be/N71djcUZKk0
 * 
 * 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 = 4; // direction motor 1 (Channel A)
const int MotorSpeedPinA = 5; // for motor 1 (channel A)



const int MotorPinB = 7; // direction motor 2 (Channel B)
const int MotorSpeedPinB = 6;// for motor 2 (channel B)


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

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


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

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

}

void loop() {


  digitalWrite(MotorPinB, CW);// set direction
      Serial.print("Direction CW - B"); 
  analogWrite(MotorSpeedPinB, 87);// set speed at maximum
      Serial.println(" 87");

 digitalWrite(MotorPinA, CCW);// set direction
      Serial.print("Direction CCW - A"); 
  analogWrite(MotorSpeedPinA, 110);// set speed at maximum
      Serial.println(" 110");
            
  delay(5000);// run for 5 seconds
  analogWrite(MotorSpeedPinB, 0);// stop motor B
        Serial.println("Stop motor B");
  delay(2000);
  
 digitalWrite(MotorPinB, CCW);// set direction 
      Serial.print("Direction CCW - B ");
  analogWrite(MotorSpeedPinB, 160);// set speed at maximum
      Serial.println("160");         
  delay(5000);// run for 5 seconds

  analogWrite(MotorSpeedPinA, 0);// stop motor A
        Serial.println("Stop motor A");

  delay(2000);


  digitalWrite(MotorPinA, CW);// set direction
      Serial.print("Direction CW - A "); 
  analogWrite(MotorSpeedPinA, 189);// set speed at maximum
      Serial.println("189");  
 delay(3000);
  

Serial.println("===== loop "); 

}// loop end

++
/*
 * Code to control 2 DC motors using DFRobot Arduino Motor Shield (Advanced Code)
 * This code has two extra functions, moveMotor() and brake(), which makes controlling the motors very easy and with a minimum amount of code lines.
 * Written by Ahmad Shamshiri for Robojax.com on September 2, 2018, at 09:57 in Ajax, Ontario, Canada
 * Watch video instruction for this code:https://youtu.be/N71djcUZKk0
 * 
 * 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 = 4; // direction motor 1 (Channel A)
const int MotorSpeedPinA = 5; // for motor 1 (channel A)



const int MotorPinB = 7; // direction motor 2 (Channel B)
const int MotorSpeedPinB = 6;// for motor 2 (channel B)


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

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


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

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

}

void loop() {


  moveMotor('B', CCW, 120); 
      Serial.print("Motor B CCW "); 
      Serial.println(" 120");
 delay(3000);
 brake('B');// stops motor B
    Serial.println("Motor B Stopped ");
 delay(2000);
  moveMotor('B', CW, 255); 
      Serial.print("Motor B CW "); 
      Serial.println(" 255"); 
 delay(4000);
  

Serial.println("===== loop "); 

}// 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

/*
 * This function is to be used with DFRobot Motor Shield.
 * brake stops the motor.
 * @param motor is character A or B
 * example of usage:
 * brake('A');// stops motor A
 * brake('B');// stops motor B
 */
void brake(char motor)
{
  if(motor =='A')
  {
    digitalWrite(MotorSpeedPinA, 0);// stop motor A
    delay(1000);
  }else{
    digitalWrite(MotorSpeedPinB, 0);// stop motor B
    delay(1000);
   
  }
}// brake end