/*
 * IR2101 电机控制电路图  
 * 控制直流电机的速度、刹车和停止  
 * 用于高侧和低侧的 IRF44ZN MOSFET  
 * 用于驱动 MOSFET 的 IR2101 驱动器  
 * 您可以从 http://robojax.com/RJT390 获取代码、PCB 生产的 Gerber 文件和接线图  
 * 
 * 由 Ahmad Shamshiri 于 2024 年 11 月 19 日撰写  
 * www.Robojax.com https://youTube.com/@robojax
 */
const int PWM1_HIN1_PIN= 9; // 必须是约一品脱的量
const int EN1_LIN1_PIN= 8;

const int PWM2_HIN2_PIN= 3; // 必须是约一品脱的量
const int EN2_LIN2_PIN= 2;

const boolean CW =1;
const boolean CCW =0;


void Motor(boolean, int); // 原型
void brake(); // 原型
void stop(); // 原型

void setup() {
  Serial.begin(9600);
  pinMode(PWM1_HIN1_PIN, OUTPUT);
  pinMode(EN1_LIN1_PIN, OUTPUT);

  pinMode(PWM2_HIN2_PIN, OUTPUT);
  pinMode(EN2_LIN2_PIN, OUTPUT);

}

void loop() {
  Motor(CW, 100);
  delay(5000);

  brake();
  delay(3000);

  Motor(CCW, 100);
  delay(5000);

  stop();
  delay(3000);

  Motor(CCW, 50); // 在顺时针方向以50%的速度
  delay(5000);

  brake();
  delay(3000);
  for(int i=0; i<=100; i++)
  {
    Motor(CCW, i);
    delay(100);
  }
  delay(3000);
  for(int i=100; i>=0; i--)
  {
    Motor(CCW, i);
    delay(100);
  }
  brake();
  delay(3000);
}


void stop()
{
    Serial.println ("=== Stop");
    digitalWrite(EN1_LIN1_PIN, LOW);
    digitalWrite(PWM1_HIN1_PIN, LOW);
    digitalWrite(EN2_LIN2_PIN, LOW);
    digitalWrite(PWM2_HIN2_PIN, LOW);
}
void brake()
{
    Serial.println ("=== Brake");
    digitalWrite(PWM1_HIN1_PIN, HIGH);
    digitalWrite(EN1_LIN1_PIN, LOW);
    digitalWrite(PWM2_HIN2_PIN, HIGH);
    digitalWrite(EN2_LIN2_PIN, LOW);
}


void Motor(boolean direction, int speed=0)
{
  int speedPWM = map(speed, 0, 100, 0, 255);
  Serial.print("Speed: "); Serial.print (speedPWM);
  Serial.print("(");Serial.print(speed);Serial.print("%)");


  if(direction){
   Serial.print(" dir: ");Serial.println ("CW");

    analogWrite(PWM1_HIN1_PIN, speedPWM);
    digitalWrite(EN1_LIN1_PIN, HIGH);

    digitalWrite(PWM2_HIN2_PIN, LOW);
    digitalWrite(EN2_LIN2_PIN, LOW);

  }else{
    Serial.print(" dir: ");Serial.println ("CCW");

    digitalWrite(PWM1_HIN1_PIN, LOW);
    digitalWrite(EN1_LIN1_PIN, LOW);

    analogWrite(PWM2_HIN2_PIN, speedPWM);
    digitalWrite(EN2_LIN2_PIN, HIGH);
  }

}