The Arduino code for the DC motor shield

Now that the HW is in place, bring up the Arduino IDE; make sure that the proper port and device are selected and enter the following code:

The Arduino code for the DC motor shield

The code is straightforward. It consists of the following three blocks:

  • The declaration of the six variables that connect to the proper Arduino pins are as follows:
    int pwmA = 3;
int pwmB = 11;
int brakeA = 9;
int brakeB = 8;
int directionA = 12;
int directionB = 13;
  • The setup() function, which sets the directionA, directionB, brakeA, and brakeB digital output pins:
    pinMode(directionA, OUTPUT);
pinMode(brakeA, OUTPUT);
pinMode(directionB, OUTPUT);
pinMode(brakeB, OUTPUT);
  • The loop() function. This is an example of how to make the wheeled robot go forward and then turn to the right. At each of these steps, you'll need to use the brake to stop the robot. The code is as follows:
    // Move forward
digitalWrite(directionA, HIGH);
digitalWrite(brakeA, LOW);
analogWrite(pwmA, 255);
digitalWrite(directionB, HIGH);
digitalWrite(brakeB, LOW);
analogWrite(pwmB, 255);

delay(2000);

digitalWrite(brakeA, HIGH);
digitalWrite(brakeB, HIGH);

delay(1000);

//Turn right
digitalWrite(directionA, LOW); //Establishes backward direction of Channel A
digitalWrite(brakeA, LOW); //Disengage the Brake for Channel A
analogWrite(pwmA, 128); //Spins the motor on Channel A at half speed
digitalWrite(directionB, HIGH); //Establishes forward direction of Channel B
digitalWrite(brakeB, LOW); //Disengage the Brake for Channel B
analogWrite(pwmB, 128); //Spins the motor on Channel B at full speed
delay(2000);
digitalWrite(brakeA, HIGH);
digitalWrite(brakeB, HIGH);

delay(1000);

Once you have uploaded the code, the program should run in a loop. If you want to run your robot without connection to the computer, place batteries into the battery holder, disconnect the USB cable connecting Arduino to the computer, and then press the RESET button. Your robot can move all by itself!

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