/*
This code is for:
Building an H-Bridge Motor driver using TIP120 and TIP125 on a breadboard and full PCB Design with Arduino
https://youtu.be/6ugrL5ziPn8

This code has been downloaded from Robojax.com
You can access the resources page and download the Gerber file to produce
the PCB or a fully assembled PCB from PCBX.com
Visit https://robojax.com/tutorial_view.php?id=392
to control a DC motor using TIP120 and TIP125 as an
H bridge
Written by Ahmad Shamshiri
26 Aug 2024
*/
const int PWM1= 9;//pin with ~
const int EN1= 8;

const int PWM2= 3;//pin with ~
const int EN2= 2;

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

void Motor(boolean, int);//prototype
void brake();//prototype

void setup() {
  Serial.begin(9600);
  Serial.println("TIP120 H Bridge by Robojax");
  pinMode(PWM1, OUTPUT);
  pinMode(EN1, OUTPUT);

  pinMode(PWM2, OUTPUT);
  pinMode(EN2, OUTPUT);   

}

void loop() {
  Motor(CW, 50);//in CW at 50% speed
  delay(5000);

  stop();
  delay(2000);

  Motor(CCW, 80);//in CCW at 80% speed
  delay(5000);

  brake();
  delay(2000);

  for (int i=0; i<=100; i++)
  {
   Motor(CCW, i);
   delay(25);
  }
    delay(5000);

  brake();
  delay(2000);
}

/*
stop()
stops the output
*/
void stop()
{
    Serial.println ("=== Stop"); 
  digitalWrite(PWM1, LOW);
  digitalWrite(EN1, LOW);
  digitalWrite(PWM2, LOW);
  digitalWrite(EN2, LOW);  
}

/*
brake()
*/
void brake()
{
    Serial.println ("=== Brake"); 
  digitalWrite(PWM1, HIGH);
  digitalWrite(EN1, LOW);
  digitalWrite(PWM2, HIGH);
  digitalWrite(EN2, 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, speedPWM);
    digitalWrite(EN1, HIGH);
    digitalWrite(PWM2, LOW);
    digitalWrite(EN2, LOW); 
  }else{
    Serial.print(" dir: ");Serial.println ("CCW");  
    digitalWrite(PWM1, LOW);
    digitalWrite(EN1, LOW);    
      analogWrite(PWM2, speedPWM);
    digitalWrite(EN2, HIGH); 
  }
 
}