/*
 * Lesson 51: Controlling 2 DC motors using L293D and Arduino | Arduino Step By Step Course

 * This is the Arduino code for the L293D DC motor driver.
Using this code you can control 2 motors to rotate in both directions.
Please watch the video for full details of this code and project:
https://youtu.be/LkJRakZBChI

 *  * 
 // Written by Ahmad Shamshiri for Robojax.com on 
// January 26, 2019 at 08:01 in Ajax, Ontario, Canada

This code is available at http://robojax.com/course1/?vid=lecture51
 
with over 100 lectures free on YouTube. Watch it here: http://robojax.com/L/?id=338
Get the code for the course: http://robojax.com/L/?id=339  
 * on Saturday, November 24, 2018 
 * in Ajax, Ontario, Canada
 * 
 
 * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.
 * 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/>.

*/


#define Pin1A 2 // define Pin1A 1A pin
#define Pin2A 4 // define Pin2A 2A pin
#define EN12 3 // define pin 3 for EN1, 2 (must be PWM pin)

#define Pin3A 8 // define Pin3A 3A pin
#define Pin4A 9 // define Pin4A 4A pin
#define EN34 10 // define pin 10 for EN3,4 (must be PWM pin)

const int CCW =1; // defining CCW variable
const int CW =2; // defining CW variable


void setup() {
  // L293 Motor Control Code 
  Serial.begin(9600);// setup Serial Monitor to display information
  pinMode(Pin1A, OUTPUT);// define pin as OUTPUT for Pin1A
  pinMode(Pin2A, OUTPUT);// define pin as OUTPUT for Pin2A 
  pinMode(EN12, OUTPUT);// define pin as OUTPUT for EN12


  pinMode(Pin3A, OUTPUT);// define pin as OUTPUT for Pin3A
  pinMode(Pin4A, OUTPUT);// define pin as OUTPUT for Pin4A 
  pinMode(EN34, OUTPUT);// define pin as OUTPUT for EN34  

  // L293 Motor Control Code    
}

void loop() {
  // L293 Motor Control Code 

  motor(1,255,CW);// motor 1 CW at 255
  delay(5000);// wait for 5 seconds

  motor(2,170,CCW);// motor 2 CCW at 150
  delay(5000);// wait for 5 seconds
  
  motor(1,0, CCW);// stop  1 motor
  delay(5000);// wait for 5 seconds

  motor(1,170,CCW);// motor 1 CCW at 255
  delay(5000);// wait for 5 seconds

  motor(2,255,CW);// motor 2 CW at 255
  delay(5000);// wait for 5 seconds
  
  motor(2,0, CCW);// stop  2 motor
  delay(5000);// wait for 5 seconds
         
  Serial.println("====== Loop done"); 

  // L293 Motor Control Code 
}// loop end


/*
 * drives L293D motor drivers
 * @param motor is motor number (1 or 2)
 * @param pwm is the PWM value 0 to 255
 * @param dir is the direction (CW or CCW)
 */
void motor(int motor, int pwm, int dir)
{
  int drive1Pin, drive2Pin, driveENPin;
  String motorTitle;// define motor text
  if(motor ==1){
    drive1Pin = Pin1A;
    drive2Pin = Pin2A;
    driveENPin = EN12;
    motorTitle ="Motor 1";
  }else{
    drive1Pin = Pin3A;
    drive2Pin = Pin4A; 
    driveENPin = EN34;
    motorTitle ="Motor 2";   
  }
  if(dir ==1){
    digitalWrite(drive1Pin,LOW);//LOW signal   
    digitalWrite(drive2Pin,HIGH);//HIGH signal  
    if(pwm ==0){
       Serial.print(motorTitle);
       Serial.println(" Stopped");
    }else{
       Serial.print(motorTitle);
       Serial.print(" Rotating CCW: "); 
       Serial.println(pwm);//print actual speed value     
    }       
  }else{
    digitalWrite(drive1Pin,HIGH);//HIGH signal   
    digitalWrite(drive2Pin,LOW);//LOW signal  
    if(pwm ==0){
       Serial.print(motorTitle);
       Serial.println(" Stopped");
    }else{
       Serial.print(motorTitle);
       Serial.print(" Rotating CW: "); 
       Serial.println(pwm);//print actual speed value     
    }       
  }
    analogWrite(driveENPin ,pwm);// send PWM to driveENPin 
     
}//motor