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function cmd_dcmotor_setup(h,driver_type,motor_no,pin_no_1,pin_no_2)
// Command to setup pins to control DC motor
//
// Calling Sequence
// cmd_dcmotor_setup(h,driver_type,motor_no,pin_no_1,pin_no_2)
//
// Parameters
// h : Board number, reserved for future use. For this version, any number would do
// driver_type : 1=Motorshield Rev3, 2=L298, 3=L293
// motor_no : ID used to identify motor to be connected
// pin_no_1 : Depends on the driver type, choose the correct pins for the purpose. For example, using L293 require PWM pin to be selected.
// pin_no_2 : Depends on the driver type, choose the correct pins for the purpose. For example, using L293 require PWM pin to be selected.
//
// Description
// Arduino board does not deliver enough power, so it is necessary to use a H-bridge circuit/IC to control the motor. There are several types of H-bridge IC that do not all operate on the same principle. For example, the L298 requires the use of a PWM signal with current sense. The L293 uses two PWM to set the speed and direction. Ready-to-use Shields are also available.
//
// Remember that the PWM is 8-bit (0 to 255). The input of the block could accept any value, but it would saturate at +- 255.
//
// Examples
// ok = open_serial(1,9,115200)
// cmd_dcmotor_setup(1,3,1,9,10) // Setup DC motor of type 3 (L293), motor 1, pin 9 and 10
// cmd_dcmotor_run(1,1,255)
// sleep(1000)
// cmd_dcmotor_run(1,1,-255)
// sleep(1000)
// cmd_dcmotor_release(1,1)
// close_serial(1)
// See also
// cmd_dcmotor_run
// cmd_dcmotor_release
//
// Authors
// Bruno JOFRET, Tan C.L.
//
disp("init DCmotor")
if(driver_type==1) then
//code_sent="91";
code_sent="C"+string(motor_no)+ascii(48+pin_no_1)+ascii(48+pin_no_2)+"1"; //adafruit
elseif (driver_type==2) then
code_sent="C"+string(motor_no)+ascii(48+pin_no_1)+ascii(48+pin_no_2)+"1"; //code pour initialiser L298
elseif (driver_type==3) then
code_sent="C"+string(motor_no)+ascii(48+pin_no_1)+ascii(48+pin_no_2)+"0"; //code pour initialiser L293
end
write_serial(h,code_sent,5)
//Attente que l'arduino reponde OK
[a,b,c]=status_serial(1);
while (b < 2)
[a,b,c]=status_serial(1);
end
values=read_serial(1,2);
if (values == 'OK') then
disp('Init motor successful')
else
disp('Init motor unsuccessful')
end
endfunction
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