Didier Stevens

Sunday 23 August 2009

Quickpost: Ardubot Programming

Filed under: Hardware,Quickpost — Didier Stevens @ 14:15

Here’s a small post with extra details on building an Ardubot; details I didn’t find online.

The missing info is which Arduino output lines control the 2 motors. Measuring with a multimeter reveals digital outputs 3, 5, 6 and 9.

I place and solder the motors like this:

The +-sign closest to the PCB:

ardubot-motor-plus-sign

Red wire soldered to + connector, black wire soldered to – connector:

ardubot-motor-wires

I defined left motor and right motor like this:

ardubot

And here’s the schema:

ardubot-schema

To power the left motor in a forward drive, set digital output 9 high and digital output 6 low.

To power the left motor in a reverse drive, do the oposite of a forward drive (9 low and 6 high).

To power down a motor, set both digital outputs low.

To power the right motor in a forward drive, set digital output 5 low and digital output 3 high.

To power the right motor in a reverse drive, do the oposite of a forward drive (5 high and 3 low).

Arduino code:

/*
	Ardubot motor-driving example program
	Version 0.0.1
	Source code put in public domain by Didier Stevens, no Copyright

https://DidierStevens.com

	Use at your own risk

	History:
	2009/08/21: Start development
	2009/08/23: refactoring
*/

unsigned char PIN_HBRIDGE_1A = 9;
unsigned char PIN_HBRIDGE_2A = 6;
unsigned char PIN_HBRIDGE_3A = 5;
unsigned char PIN_HBRIDGE_4A = 3;

void MotorLeftStop()
{
  digitalWrite(PIN_HBRIDGE_1A, LOW);
  digitalWrite(PIN_HBRIDGE_2A, LOW);
}

void MotorLeftForward()
{
  digitalWrite(PIN_HBRIDGE_1A, HIGH);
  digitalWrite(PIN_HBRIDGE_2A, LOW);
}

void MotorLeftReverse()
{
  digitalWrite(PIN_HBRIDGE_1A, LOW);
  digitalWrite(PIN_HBRIDGE_2A, HIGH);
}

void MotorRightStop()
{
  digitalWrite(PIN_HBRIDGE_3A, LOW);
  digitalWrite(PIN_HBRIDGE_4A, LOW);
}

void MotorRightForward()
{
  digitalWrite(PIN_HBRIDGE_3A, LOW);
  digitalWrite(PIN_HBRIDGE_4A, HIGH);
}

void MotorRightReverse()
{
  digitalWrite(PIN_HBRIDGE_3A, HIGH);
  digitalWrite(PIN_HBRIDGE_4A, LOW);
}

void setup() {
  pinMode(PIN_HBRIDGE_1A, OUTPUT);
  pinMode(PIN_HBRIDGE_2A, OUTPUT);
  pinMode(PIN_HBRIDGE_3A, OUTPUT);
  pinMode(PIN_HBRIDGE_4A, OUTPUT);
}

void loop(){
  MotorLeftStop();
  MotorRightStop();
  delay(2000);

  MotorLeftForward();
  delay(2000);

  MotorLeftStop();
  delay(2000);

  MotorLeftReverse();
  delay(2000);

  MotorLeftStop();
  delay(2000);

  MotorRightForward();
  delay(2000);

  MotorRightStop();
  delay(2000);

  MotorRightReverse();
  delay(2000);

  MotorRightStop();
  delay(2000);

  delay(5000);
}

One tip: if you use the large wheels, get a header kit to raise the Arduino Duemilanove, otherwise the wheel will block access to the power and USB connectors:

ardubot-header-kit


Quickpost info


4 Comments »

  1. Does this mean you cant control both the motors simultaneously? Is there any reference or code for that?

    Comment by r3f3ctionz zzzz — Thursday 24 February 2011 @ 0:54

  2. @r3f3ctionz Yes, take a look at my code.

    Comment by Didier Stevens — Thursday 24 February 2011 @ 9:40

  3. Hi, I used your code to make my ardubot work but I did something wrong in the actual circuit I think because I can control the right wheel but I can’t control the left wheel because every time the right wheel is on the left wheel turns on and never stops, I think is because of a short circuit but I’m not sure what went wrong. Any suggestions? Thank you

    Comment by Anonymous — Thursday 6 October 2011 @ 16:20

  4. That sounds like a short circuit. Have you inspected your soldering points?

    Comment by Didier Stevens — Thursday 6 October 2011 @ 18:41


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