sparkfun Ardumoto Kit, Руководство по подключению

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driveArdumoto(MOTOR_B, REVERSE, 255); // Set motor B to REVE
RSE at max
delay(1000); // Motor B will spin as set for 1 second
driveArdumoto(MOTOR_B, FORWARD, 127); // Set motor B to FOR
WARD at half
delay(1000); // Motor B will keep trucking for 1 second
stopArdumoto(MOTOR_B); // STOP motor B
// Drive both
driveArdumoto(MOTOR_A, FORWARD, 255); // Motor A at max spe
ed.
driveArdumoto(MOTOR_B, FORWARD, 255); // Motor B at max spe
ed.
delay(1000); // Drive forward for a second
// Now go backwards at half that speed:
driveArdumoto(MOTOR_A, REVERSE, 127); // Motor A at max spe
ed.
driveArdumoto(MOTOR_B, REVERSE, 127); // Motor B at max spe
ed.
delay(1000); // Drive forward for a second
// Now spin in place!
driveArdumoto(MOTOR_A, FORWARD, 255); // Motor A at max spe
ed.
driveArdumoto(MOTOR_B, REVERSE, 255); // Motor B at max spe
ed.
delay(2000); // Drive forward for a second
stopArdumoto(MOTOR_A); // STOP motor A
stopArdumoto(MOTOR_B); // STOP motor B
}
// driveArdumoto drives 'motor' in 'dir' direction at 'spd' sp
eed
void driveArdumoto(byte
motor, byte dir, byte spd)
{
if (motor == MOTOR_A)
{
digitalWrite(DIRA, dir);
analogWrite(PWMA, spd);
}
else if (motor == MOTOR_B)
{
digitalWrite(DIRB, dir);
analogWrite(PWMB, spd);
}
}
// stopArdumoto makes a motor stop
void stopArdumoto(byte motor)
{
driveArdumoto(motor, 0, 0);
}
// setupArdumoto initialize all pins
void setupArdumoto()
{
// All pins should be setup as outputs:
pinMode(PWMA, OUTPUT);
pinMode(PWMB, OUTPUT);
pinMode(DIRA, OUTPUT);
pinMode(DIRB, OUTPUT);
// Initialize all pins as low:
digitalWrite(PWMA, LOW);
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