Dear Ytai,
Heres a link where I have purchased this 4WD Motor. I have followed these
images
http://www.tohobby.com/it/4-dc-motor-driver-module-arduino-dc-motor-shield-l298n-motor-control-board.html
I also attach my code for motor bellow:
class Looper extends BaseIOIOLooper {
//Pins for Controlls
private DigitalOutput D1A, D1B, D2A, D2B, D3A, D3B, D4A, D4B;
private PwmOutput PWM1, PWM2, PWM3, PWM4;
public void setup() throws ConnectionLostException {
read = ioio_.openPulseInput(34, PulseInput.PulseMode.POSITIVE);
D1A = ioio_.openDigitalOutput(16, false);
D1B = ioio_.openDigitalOutput(17, false);
D2A = ioio_.openDigitalOutput(18, false);
D2B = ioio_.openDigitalOutput(19, false);
D3A = ioio_.openDigitalOutput(20, false);
D3B = ioio_.openDigitalOutput(21, false);
D4A = ioio_.openDigitalOutput(22, false);
D4B = ioio_.openDigitalOutput(23, false);
PWM1 = ioio_.openPwmOutput(27, 100);
PWM1.setDutyCycle(0);
PWM2 = ioio_.openPwmOutput(28, 100);
PWM2.setDutyCycle(0);
PWM3 = ioio_.openPwmOutput(29, 100);
PWM3.setDutyCycle(0);
PWM4 = ioio_.openPwmOutput(30, 100);
PWM4.setDutyCycle(0);
runOnUiThread(new Runnable() {
public void run() {
Toast.makeText(getApplicationContext(),
"Go IOIO!", Toast.LENGTH_SHORT).show();
}
});
}
//Main Controls
public void loop() throws ConnectionLostException, InterruptedException {
if(dutyLeft > 0) {
PWM1.setDutyCycle(dutyLeft);
PWM2.setDutyCycle(dutyLeft);
D1A.write(false);
D2A.write(false);
D1B.write(true);
D2B.write(true);
} else if(dutyLeft < 0) {
PWM1.setDutyCycle(Math.abs(dutyLeft));
PWM2.setDutyCycle(Math.abs(dutyLeft));
D1A.write(true);
D2A.write(true);
D1B.write(false);
D2B.write(false);
} else {
PWM1.setDutyCycle(0);
PWM2.setDutyCycle(0);
D1A.write(false);
D2A.write(false);
D1B.write(false);
D2B.write(false);
}
if(dutyRight > 0) {
PWM3.setDutyCycle(dutyRight);
PWM4.setDutyCycle(dutyRight);
D3A.write(true);
D4A.write(true);
D3B.write(false);
D4B.write(false);
} else if(dutyRight < 0) {
PWM3.setDutyCycle(Math.abs(dutyRight));
PWM4.setDutyCycle(Math.abs(dutyRight));
D3A.write(false);
D4A.write(false);
D3B.write(true);
D4B.write(true);
} else {
PWM3.setDutyCycle(0);
PWM4.setDutyCycle(0);
D3A.write(false);
D4A.write(false);
D3B.write(false);
D4B.write(false);
}
try {
Thread.sleep(100);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
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