working relay, but i returned to using the monstermotor shield. and now with beter stop code for the motors
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5shekel
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d3eb3d9962
commit
fe81d3b4c0
BIN
circit.jpg
BIN
circit.jpg
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Before Width: | Height: | Size: 59 KiB After Width: | Height: | Size: 58 KiB |
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@ -483,7 +483,7 @@ design rules under a new name.
|
|||
<attribute name="MF" value="" x="44.45" y="7.62" size="1.778" layer="27" display="off"/>
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||||
<attribute name="OC_FARNELL" value="unknown" x="44.45" y="7.62" size="1.778" layer="27" display="off"/>
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||||
</element>
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||||
<element name="Q1" library="dp_devices" package="TO-92" value="" x="25.4" y="5.08" rot="R270"/>
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||||
<element name="Q1" library="dp_devices" package="TO-92" value="" x="25.4" y="3.81" rot="R270"/>
|
||||
<element name="R1" library="adafruit" package="0204/7" value="" x="15.24" y="2.54"/>
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||||
<element name="J1" library="adafruit" package="1X2-3.5MM" value="1X2-3.5MM" x="3.81" y="20.32" smashed="yes" rot="R270"/>
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||||
<element name="R2" library="adafruit" package="0204/7" value="" x="15.24" y="7.62"/>
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||||
|
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@ -498,51 +498,54 @@ design rules under a new name.
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|||
<attribute name="MF" value="" x="39.37" y="21.59" size="1.778" layer="27" display="off"/>
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||||
<attribute name="OC_FARNELL" value="unknown" x="39.37" y="21.59" size="1.778" layer="27" display="off"/>
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||||
</element>
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||||
<element name="Q2" library="dp_devices" package="TO-92" value="" x="25.4" y="12.7" rot="R90"/>
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<element name="Q2" library="dp_devices" package="TO-92" value="" x="25.4" y="11.43" rot="R90"/>
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</elements>
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||||
<signals>
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<signal name="N$1">
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<contactref element="Q1" pad="2"/>
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||||
<contactref element="R1" pad="2"/>
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||||
<wire x1="19.05" y1="2.54" x2="20.32" y2="2.54" width="0.6096" layer="1"/>
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||||
<wire x1="20.32" y1="2.54" x2="22.86" y2="5.08" width="0.6096" layer="1"/>
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||||
<wire x1="22.86" y1="5.08" x2="25.4" y2="5.08" width="0.6096" layer="1"/>
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||||
<wire x1="20.32" y1="2.54" x2="22.86" y2="3.81" width="0.6096" layer="1"/>
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<wire x1="22.86" y1="3.81" x2="25.4" y2="3.81" width="0.6096" layer="1"/>
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</signal>
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<signal name="+12V">
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<contactref element="J1" pad="2"/>
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<contactref element="K2" pad="1"/>
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<contactref element="K1" pad="P1"/>
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||||
<contactref element="K1" pad="1"/>
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<wire x1="3.81" y1="22.02" x2="3.81" y2="25.4" width="0.6096" layer="1"/>
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<wire x1="3.81" y1="25.4" x2="35.56" y2="25.4" width="0.6096" layer="1"/>
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||||
<wire x1="35.56" y1="25.4" x2="40.64" y2="25.4" width="0.6096" layer="1"/>
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||||
<wire x1="40.64" y1="25.4" x2="40.64" y2="11.43" width="0.6096" layer="1"/>
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||||
<wire x1="40.64" y1="11.43" x2="52.07" y2="11.43" width="0.6096" layer="1"/>
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<wire x1="60.96" y1="3.81" x2="60.96" y2="0" width="0.6096" layer="1"/>
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<wire x1="60.96" y1="0" x2="52.07" y2="0" width="0.6096" layer="1"/>
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<wire x1="52.07" y1="0" x2="52.07" y2="11.43" width="0.6096" layer="1"/>
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<wire x1="40.64" y1="25.4" x2="40.64" y2="21.59" width="0.6096" layer="1"/>
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<contactref element="K2" pad="P1"/>
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<wire x1="40.64" y1="11.43" x2="40.64" y2="21.59" width="0.6096" layer="1"/>
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<wire x1="40.64" y1="21.59" x2="55.88" y2="21.59" width="0.6096" layer="1"/>
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<wire x1="55.88" y1="21.59" x2="55.88" y2="17.78" width="0.6096" layer="1"/>
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</signal>
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<signal name="GND">
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<contactref element="Q1" pad="1"/>
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<contactref element="J1" pad="1"/>
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<contactref element="Q2" pad="1"/>
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<contactref element="JP1" pad="2"/>
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<wire x1="3.81" y1="18.52" x2="3.81" y2="13.97" width="0.6096" layer="1"/>
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<wire x1="3.81" y1="13.97" x2="2.54" y2="12.7" width="0.6096" layer="1"/>
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<wire x1="2.54" y1="12.7" x2="2.54" y2="5.08" width="0.6096" layer="1"/>
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||||
<wire x1="2.54" y1="5.08" x2="5.08" y2="5.08" width="0.6096" layer="1"/>
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<wire x1="5.08" y1="5.08" x2="20.32" y2="5.08" width="0.6096" layer="1"/>
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<wire x1="20.32" y1="5.08" x2="22.86" y2="7.62" width="0.6096" layer="1"/>
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<wire x1="22.86" y1="7.62" x2="25.4" y2="7.62" width="0.6096" layer="1"/>
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<wire x1="25.4" y1="10.16" x2="25.4" y2="7.62" width="0.6096" layer="1"/>
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<contactref element="K2" pad="P1"/>
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<wire x1="25.4" y1="10.16" x2="55.88" y2="17.78" width="0" layer="19" extent="1-1"/>
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<wire x1="3.81" y1="18.52" x2="3.81" y2="16.51" width="0.6096" layer="16"/>
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<wire x1="3.81" y1="16.51" x2="2.54" y2="15.24" width="0.6096" layer="16"/>
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<wire x1="2.54" y1="15.24" x2="2.54" y2="5.08" width="0.6096" layer="16"/>
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<wire x1="2.54" y1="5.08" x2="5.08" y2="5.08" width="0.6096" layer="16"/>
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<wire x1="5.08" y1="5.08" x2="22.86" y2="5.08" width="0.6096" layer="16"/>
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<wire x1="22.86" y1="5.08" x2="24.13" y2="6.35" width="0.6096" layer="16"/>
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<wire x1="24.13" y1="6.35" x2="25.4" y2="6.35" width="0.6096" layer="16"/>
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<wire x1="25.4" y1="6.35" x2="25.4" y2="8.89" width="0.6096" layer="16"/>
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<contactref element="K1" pad="P2"/>
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<wire x1="25.4" y1="8.89" x2="25.4" y2="7.62" width="0.6096" layer="16"/>
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<wire x1="25.4" y1="7.62" x2="53.34" y2="7.62" width="0.6096" layer="16"/>
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<wire x1="53.34" y1="7.62" x2="53.34" y2="13.97" width="0.6096" layer="16"/>
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<wire x1="53.34" y1="13.97" x2="60.96" y2="13.97" width="0.6096" layer="16"/>
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<wire x1="60.96" y1="13.97" x2="60.96" y2="11.43" width="0.6096" layer="16"/>
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</signal>
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<signal name="N$3">
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<contactref element="R2" pad="2"/>
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<contactref element="Q2" pad="2"/>
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<wire x1="19.05" y1="7.62" x2="24.13" y2="12.7" width="0.6096" layer="1"/>
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<wire x1="24.13" y1="12.7" x2="25.4" y2="12.7" width="0.6096" layer="1"/>
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<wire x1="19.05" y1="7.62" x2="19.05" y2="11.43" width="0.6096" layer="1"/>
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<wire x1="19.05" y1="11.43" x2="25.4" y2="11.43" width="0.6096" layer="1"/>
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</signal>
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<signal name="N$6">
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<contactref element="K1" pad="S1"/>
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@ -568,20 +571,25 @@ design rules under a new name.
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<contactref element="R2" pad="1"/>
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<wire x1="5.08" y1="7.62" x2="11.43" y2="7.62" width="0.6096" layer="1"/>
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</signal>
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<signal name="N$10">
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<contactref element="K1" pad="P2"/>
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<contactref element="K2" pad="S1"/>
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<wire x1="60.96" y1="17.78" x2="60.96" y2="11.43" width="0.6096" layer="1"/>
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</signal>
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<signal name="N$4">
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<contactref element="Q2" pad="3"/>
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<contactref element="K2" pad="2"/>
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<wire x1="25.4" y1="15.24" x2="35.56" y2="17.78" width="0.6096" layer="1"/>
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<wire x1="25.4" y1="13.97" x2="25.4" y2="17.78" width="0.6096" layer="1"/>
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<wire x1="25.4" y1="17.78" x2="35.56" y2="17.78" width="0.6096" layer="1"/>
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</signal>
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<signal name="N$8">
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<contactref element="Q1" pad="3"/>
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<contactref element="K1" pad="2"/>
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<wire x1="25.4" y1="2.54" x2="40.64" y2="3.81" width="0.6096" layer="1"/>
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<wire x1="25.4" y1="1.27" x2="35.56" y2="1.27" width="0.6096" layer="1"/>
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<wire x1="35.56" y1="1.27" x2="38.1" y2="3.81" width="0.6096" layer="1"/>
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<wire x1="38.1" y1="3.81" x2="40.64" y2="3.81" width="0.6096" layer="1"/>
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</signal>
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<signal name="N$2">
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<contactref element="K2" pad="S1"/>
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<contactref element="K1" pad="P1"/>
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<wire x1="60.96" y1="17.78" x2="58.42" y2="17.78" width="0.6096" layer="1"/>
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<wire x1="58.42" y1="17.78" x2="58.42" y2="3.81" width="0.6096" layer="1"/>
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<wire x1="58.42" y1="3.81" x2="60.96" y2="3.81" width="0.6096" layer="1"/>
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</signal>
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</signals>
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</board>
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@ -2690,13 +2690,14 @@ type 0309, grid 2.5 mm</description>
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</plain>
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<instances>
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<instance part="K1" gate="1" x="41.91" y="74.93" smashed="yes">
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<attribute name="VALUE" x="43.18" y="70.231" size="1.778" layer="96"/>
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<attribute name="VALUE" x="43.18" y="77.851" size="1.778" layer="96"/>
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<attribute name="PART" x="43.18" y="80.01" size="1.778" layer="95"/>
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</instance>
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<instance part="K1" gate="2" x="64.77" y="68.58" smashed="yes" rot="R270">
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<attribute name="PART" x="64.77" y="66.04" size="1.778" layer="95" rot="R270"/>
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<instance part="K1" gate="2" x="74.93" y="59.69" smashed="yes" rot="R270">
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<attribute name="PART" x="74.93" y="57.15" size="1.778" layer="95" rot="R270"/>
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</instance>
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<instance part="K1" gate="3" x="64.77" y="52.07" smashed="yes" rot="R270">
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<attribute name="PART" x="64.77" y="49.53" size="1.778" layer="95" rot="R270"/>
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<instance part="K1" gate="3" x="74.93" y="43.18" smashed="yes" rot="R270">
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<attribute name="PART" x="74.93" y="40.64" size="1.778" layer="95" rot="R270"/>
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</instance>
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<instance part="Q1" gate="Q" x="39.37" y="63.5" smashed="yes">
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<attribute name="NAME" x="35.56" y="64.77" size="1.778" layer="95"/>
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@ -2705,23 +2706,23 @@ type 0309, grid 2.5 mm</description>
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<instance part="R1" gate="G$1" x="13.97" y="63.5"/>
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<instance part="J1" gate="G$1" x="-10.16" y="86.36" rot="R180"/>
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<instance part="R2" gate="G$1" x="13.97" y="36.83"/>
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<instance part="J2" gate="G$1" x="90.17" y="59.69"/>
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<instance part="J2" gate="G$1" x="100.33" y="50.8"/>
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<instance part="JP1" gate="A" x="6.35" y="52.07" rot="R180"/>
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<instance part="U$3" gate="G$1" x="41.91" y="54.61"/>
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<instance part="U$1" gate="G$1" x="-2.54" y="80.01"/>
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<instance part="+12V2" gate="SUPPLY" x="-2.54" y="86.36"/>
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<instance part="K2" gate="1" x="29.21" y="48.26" smashed="yes">
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<attribute name="VALUE" x="30.48" y="43.561" size="1.778" layer="96"/>
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<attribute name="PART" x="22.86" y="50.8" size="1.778" layer="95"/>
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<attribute name="VALUE" x="30.48" y="51.181" size="1.778" layer="96"/>
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<attribute name="PART" x="30.48" y="53.34" size="1.778" layer="95"/>
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</instance>
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<instance part="K2" gate="2" x="54.61" y="46.99" rot="R270"/>
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<instance part="K2" gate="2" x="63.5" y="54.61" rot="R270"/>
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<instance part="Q2" gate="Q" x="26.67" y="36.83" smashed="yes">
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<attribute name="NAME" x="22.86" y="38.1" size="1.778" layer="95"/>
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<attribute name="VALUE" x="16.51" y="41.91" size="1.778" layer="96"/>
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</instance>
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<instance part="U$4" gate="G$1" x="29.21" y="27.94"/>
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<instance part="U$5" gate="G$1" x="-2.54" y="48.26"/>
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<instance part="U$2" gate="G$1" x="52.07" y="39.37"/>
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<instance part="U$2" gate="G$1" x="59.69" y="40.64"/>
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</instances>
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<busses>
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</busses>
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@ -2740,12 +2741,6 @@ type 0309, grid 2.5 mm</description>
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<wire x1="-2.54" y1="86.36" x2="-5.08" y2="86.36" width="0.1524" layer="91"/>
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</segment>
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<segment>
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<pinref part="K1" gate="2" pin="P"/>
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<wire x1="59.69" y1="68.58" x2="62.23" y2="68.58" width="0.1524" layer="91"/>
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<wire x1="59.69" y1="68.58" x2="59.69" y2="74.93" width="0.1524" layer="91"/>
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<label x="59.69" y="76.2" size="1.778" layer="95" rot="R90" xref="yes"/>
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</segment>
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<segment>
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<pinref part="K2" gate="1" pin="1"/>
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<wire x1="29.21" y1="53.34" x2="29.21" y2="59.69" width="0.1524" layer="91"/>
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<label x="27.94" y="58.42" size="1.778" layer="95" rot="R180" xref="yes"/>
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@ -2755,6 +2750,11 @@ type 0309, grid 2.5 mm</description>
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<wire x1="41.91" y1="82.55" x2="41.91" y2="80.01" width="0.1524" layer="91"/>
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<label x="41.91" y="83.82" size="1.778" layer="95" rot="R90" xref="yes"/>
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</segment>
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<segment>
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<pinref part="K2" gate="2" pin="P"/>
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<wire x1="60.96" y1="54.61" x2="58.42" y2="54.61" width="0.1524" layer="91"/>
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<label x="58.42" y="54.61" size="1.778" layer="95" rot="R180" xref="yes"/>
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</segment>
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</net>
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<net name="GND" class="0">
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<segment>
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@ -2780,9 +2780,9 @@ type 0309, grid 2.5 mm</description>
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<pinref part="JP1" gate="A" pin="2"/>
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</segment>
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<segment>
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<pinref part="K2" gate="2" pin="P"/>
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<pinref part="K1" gate="3" pin="P"/>
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<pinref part="U$2" gate="G$1" pin="GND"/>
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<wire x1="52.07" y1="46.99" x2="52.07" y2="41.91" width="0.1524" layer="91"/>
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<wire x1="59.69" y1="43.18" x2="72.39" y2="43.18" width="0.1524" layer="91"/>
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</segment>
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</net>
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<net name="N$3" class="0">
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@ -2795,26 +2795,26 @@ type 0309, grid 2.5 mm</description>
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<net name="N$6" class="0">
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<segment>
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<pinref part="K1" gate="2" pin="S"/>
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||||
<wire x1="69.85" y1="73.66" x2="76.2" y2="73.66" width="0.1524" layer="91"/>
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||||
<wire x1="76.2" y1="73.66" x2="82.55" y2="73.66" width="0.1524" layer="91"/>
|
||||
<wire x1="82.55" y1="73.66" x2="85.09" y2="71.12" width="0.1524" layer="91"/>
|
||||
<wire x1="80.01" y1="64.77" x2="86.36" y2="64.77" width="0.1524" layer="91"/>
|
||||
<wire x1="86.36" y1="64.77" x2="92.71" y2="64.77" width="0.1524" layer="91"/>
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||||
<wire x1="92.71" y1="64.77" x2="95.25" y2="62.23" width="0.1524" layer="91"/>
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||||
<pinref part="J2" gate="G$1" pin="1"/>
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||||
<wire x1="85.09" y1="71.12" x2="85.09" y2="62.23" width="0.1524" layer="91"/>
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||||
<wire x1="95.25" y1="62.23" x2="95.25" y2="53.34" width="0.1524" layer="91"/>
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||||
<pinref part="K1" gate="3" pin="O"/>
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||||
<wire x1="69.85" y1="46.99" x2="76.2" y2="46.99" width="0.1524" layer="91"/>
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||||
<wire x1="76.2" y1="46.99" x2="76.2" y2="73.66" width="0.1524" layer="91"/>
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||||
<junction x="76.2" y="73.66"/>
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||||
<wire x1="80.01" y1="38.1" x2="86.36" y2="38.1" width="0.1524" layer="91"/>
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||||
<wire x1="86.36" y1="38.1" x2="86.36" y2="64.77" width="0.1524" layer="91"/>
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||||
<junction x="86.36" y="64.77"/>
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</segment>
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||||
</net>
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||||
<net name="N$7" class="0">
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<segment>
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||||
<pinref part="J2" gate="G$1" pin="2"/>
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||||
<pinref part="K1" gate="3" pin="S"/>
|
||||
<wire x1="85.09" y1="59.69" x2="72.39" y2="59.69" width="0.1524" layer="91"/>
|
||||
<wire x1="72.39" y1="59.69" x2="69.85" y2="57.15" width="0.1524" layer="91"/>
|
||||
<wire x1="95.25" y1="50.8" x2="82.55" y2="50.8" width="0.1524" layer="91"/>
|
||||
<wire x1="82.55" y1="50.8" x2="80.01" y2="48.26" width="0.1524" layer="91"/>
|
||||
<pinref part="K1" gate="2" pin="O"/>
|
||||
<wire x1="69.85" y1="63.5" x2="69.85" y2="57.15" width="0.1524" layer="91"/>
|
||||
<junction x="69.85" y="57.15"/>
|
||||
<wire x1="80.01" y1="54.61" x2="80.01" y2="48.26" width="0.1524" layer="91"/>
|
||||
<junction x="80.01" y="48.26"/>
|
||||
</segment>
|
||||
</net>
|
||||
<net name="N$9" class="0">
|
||||
|
|
@ -2831,13 +2831,6 @@ type 0309, grid 2.5 mm</description>
|
|||
<wire x1="8.89" y1="49.53" x2="8.89" y2="36.83" width="0.1524" layer="91"/>
|
||||
</segment>
|
||||
</net>
|
||||
<net name="N$10" class="0">
|
||||
<segment>
|
||||
<pinref part="K1" gate="3" pin="P"/>
|
||||
<wire x1="62.23" y1="52.07" x2="59.69" y2="52.07" width="0.1524" layer="91"/>
|
||||
<pinref part="K2" gate="2" pin="S"/>
|
||||
</segment>
|
||||
</net>
|
||||
<net name="N$4" class="0">
|
||||
<segment>
|
||||
<pinref part="Q2" gate="Q" pin="C"/>
|
||||
|
|
@ -2852,6 +2845,13 @@ type 0309, grid 2.5 mm</description>
|
|||
<wire x1="41.91" y1="69.85" x2="41.91" y2="68.58" width="0.1524" layer="91"/>
|
||||
</segment>
|
||||
</net>
|
||||
<net name="N$2" class="0">
|
||||
<segment>
|
||||
<pinref part="K2" gate="2" pin="S"/>
|
||||
<pinref part="K1" gate="2" pin="P"/>
|
||||
<wire x1="68.58" y1="59.69" x2="72.39" y2="59.69" width="0.1524" layer="91"/>
|
||||
</segment>
|
||||
</net>
|
||||
</nets>
|
||||
</sheet>
|
||||
</sheets>
|
||||
|
|
|
|||
|
|
@ -6,31 +6,31 @@
|
|||
|
||||
#define DEBUG 1
|
||||
|
||||
byte addresses[][7] = {"ampBot","ampCtl"};
|
||||
byte addresses[][7] = {"ampBot", "ampCtl"};
|
||||
|
||||
typedef enum { role_ping_out = 1, role_pong_back } role_e; // The various roles supported by this sketch
|
||||
role_e role ;
|
||||
role_e role ;
|
||||
|
||||
/**
|
||||
* Create a data structure for transmitting and receiving data
|
||||
* This allows many variables to be easily sent and received in a single transmission
|
||||
* See http://www.cplusplus.com/doc/tutorial/structures/
|
||||
Create a data structure for transmitting and receiving data
|
||||
This allows many variables to be easily sent and received in a single transmission
|
||||
See http://www.cplusplus.com/doc/tutorial/structures/
|
||||
*/
|
||||
struct dataStruct{
|
||||
struct dataStruct {
|
||||
unsigned long _micros;
|
||||
int xin;
|
||||
int yin;
|
||||
}myData;
|
||||
} myData;
|
||||
|
||||
|
||||
RF24 radio(9,8); //also miso/mosi at 11/12/13
|
||||
RF24 radio(9, 8); //also miso/mosi at 11/12/13
|
||||
#define role_pin 2
|
||||
/////// remote /////////////
|
||||
#define AX_pin A0
|
||||
#define AY_pin A1
|
||||
///////// motor /////////////
|
||||
int inApin[2] = {A3, 6}; // INA: Clockwise input
|
||||
//had to change inBpin from the default 8,9
|
||||
//had to change inBpin from the default 8,9
|
||||
//beacuse of conflict with NRF24 wiring // on the nano side :/
|
||||
int inBpin[2] = {7, 10}; // INB: Counter-clockwise input
|
||||
int pwmpin[2] = {3, 5}; // PWM input
|
||||
|
|
@ -40,7 +40,7 @@ int leftMotorSpeed, rightMotorSpeed;
|
|||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
radio.begin();
|
||||
radio.begin();
|
||||
|
||||
pinMode(role_pin, INPUT);
|
||||
digitalWrite(role_pin, HIGH);
|
||||
|
|
@ -52,8 +52,8 @@ void setup() {
|
|||
radio.openWritingPipe(addresses[1]);
|
||||
radio.openReadingPipe(1, addresses[0]);
|
||||
radio.startListening();
|
||||
|
||||
if(DEBUG) Serial << "im a bot!" << endl;
|
||||
|
||||
if (DEBUG) Serial << "im a bot!" << endl;
|
||||
} else {
|
||||
role = role_ping_out;
|
||||
|
||||
|
|
@ -61,59 +61,61 @@ void setup() {
|
|||
radio.openReadingPipe(1, addresses[1]);
|
||||
radio.stopListening();
|
||||
|
||||
if(DEBUG) Serial << "im a controller!" << endl;
|
||||
if (DEBUG) Serial << "im a controller!" << endl;
|
||||
}
|
||||
|
||||
if(role==role_pong_back)
|
||||
if (role == role_pong_back)
|
||||
{
|
||||
// Initialize motor pins as outputs
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
pinMode(inApin[i], OUTPUT);
|
||||
pinMode(inBpin[i], OUTPUT);
|
||||
pinMode(pwmpin[i], OUTPUT);
|
||||
}
|
||||
// Initialize braked
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
digitalWrite(inApin[i], LOW);
|
||||
digitalWrite(inBpin[i], LOW);
|
||||
}
|
||||
}else if(role == role_ping_out){
|
||||
pinMode(AX_pin, INPUT);
|
||||
pinMode(AY_pin, INPUT);
|
||||
// Initialize motor pins as outputs
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
pinMode(inApin[i], OUTPUT);
|
||||
pinMode(inBpin[i], OUTPUT);
|
||||
pinMode(pwmpin[i], OUTPUT);
|
||||
}
|
||||
// Initialize braked
|
||||
for (int i = 0; i < 2; i++)
|
||||
{
|
||||
digitalWrite(inApin[i], LOW);
|
||||
digitalWrite(inBpin[i], LOW);
|
||||
}
|
||||
} else if (role == role_ping_out) {
|
||||
pinMode(AX_pin, INPUT);
|
||||
pinMode(AY_pin, INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void loop() {
|
||||
/****************** Ping Out Role ***************************/
|
||||
/****************** Ping Out Role ***************************/
|
||||
|
||||
if (role == role_ping_out) {
|
||||
|
||||
|
||||
myData.xin = analogRead(AX_pin);
|
||||
if(myData.xin == 517){ myData.xin = 518;} //terrible hack.
|
||||
if (myData.xin == 517) {
|
||||
myData.xin = 518; //terrible hack.
|
||||
}
|
||||
myData.yin = analogRead(AY_pin);
|
||||
|
||||
bool ok = radio.write( &myData, sizeof(myData) );
|
||||
if(DEBUG) Serial<<"xin:"<<myData.xin<<" yin:"<<myData.yin<<endl;
|
||||
if (DEBUG) Serial << "xin:" << myData.xin << " yin:" << myData.yin << endl;
|
||||
/*
|
||||
if (ok)
|
||||
if (ok)
|
||||
Serial << "transfer OK \n\r";
|
||||
else
|
||||
else
|
||||
Serial << "transfer failed \n\r";
|
||||
*/
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
/****************** Pong Back Role ***************************/
|
||||
/****************** Pong Back Role ***************************/
|
||||
|
||||
else if ( role == role_pong_back )
|
||||
{
|
||||
|
||||
if( radio.available()){
|
||||
// Variable for the received timestamp
|
||||
|
||||
if ( radio.available()) {
|
||||
// Variable for the received timestamp
|
||||
while (radio.available()) { // While there is data ready
|
||||
radio.read( &myData, sizeof(myData) ); // Get the payload
|
||||
}
|
||||
|
|
@ -124,20 +126,21 @@ void loop() {
|
|||
leftMotorSpeed = constrain(y2pwm + x2pwm, -255, 255);
|
||||
rightMotorSpeed = constrain(y2pwm - x2pwm, -255, 255);
|
||||
|
||||
if (myData.xin == 518 )
|
||||
stop(0);
|
||||
else
|
||||
move(0, leftMotorSpeed);
|
||||
|
||||
if (myData.yin == 521)
|
||||
stop(1);
|
||||
else
|
||||
move(1, rightMotorSpeed);
|
||||
move(1, rightMotorSpeed);
|
||||
move(0, leftMotorSpeed);
|
||||
|
||||
if(DEBUG) Serial<<"left:"<<leftMotorSpeed<<" right:"<<rightMotorSpeed<<endl; delay(4);
|
||||
if(DEBUG) Serial<<"x:"<<myData.xin<<" y:"<<myData.yin<<endl; delay(4);
|
||||
}
|
||||
}
|
||||
if (myData.xin == 518 && myData.yin == 521) {
|
||||
stop(0);
|
||||
stop(1);
|
||||
if (DEBUG) Serial << "im down:" << endl;
|
||||
|
||||
} else {
|
||||
if (DEBUG) Serial << "left:" << leftMotorSpeed << " right:" << rightMotorSpeed << endl;
|
||||
if (DEBUG) Serial << "inY :" << myData.yin << " inX:" << myData.xin << endl;
|
||||
}
|
||||
delay(4);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
delay(100); //pause comm, tweak!
|
||||
|
|
@ -146,17 +149,17 @@ void loop() {
|
|||
|
||||
// motor functions
|
||||
void move(int motor, int speed) {
|
||||
if (speed < 0)
|
||||
{
|
||||
digitalWrite(inApin[motor], HIGH);
|
||||
digitalWrite(inBpin[motor], LOW);
|
||||
}
|
||||
else{
|
||||
digitalWrite(inApin[motor], LOW);
|
||||
digitalWrite(inBpin[motor], HIGH);
|
||||
}
|
||||
if (speed < 0)
|
||||
{
|
||||
digitalWrite(inApin[motor], HIGH);
|
||||
digitalWrite(inBpin[motor], LOW);
|
||||
}
|
||||
else {
|
||||
digitalWrite(inApin[motor], LOW);
|
||||
digitalWrite(inBpin[motor], HIGH);
|
||||
}
|
||||
|
||||
analogWrite(pwmpin[motor], abs(speed));
|
||||
analogWrite(pwmpin[motor], abs(speed));
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user