84 lines
2.2 KiB
C++
84 lines
2.2 KiB
C++
/*
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This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
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It won't work with v1.x motor shields! Only for the v2's with built in PWM
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control
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For use with the Adafruit Motor Shield v2
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----> http://www.adafruit.com/products/1438
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This sketch creates a fun motor party on your desk *whiirrr*
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Connect a unipolar/bipolar stepper to M3/M4
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Connect a DC motor to M1
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Connect a hobby servo to SERVO1
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*/
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#include <Wire.h>
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#include <Adafruit_MotorShield.h>
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#include "utility/Adafruit_PWMServoDriver.h"
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#include <Servo.h>
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// Create the motor shield object with the default I2C address
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Adafruit_MotorShield AFMS = Adafruit_MotorShield();
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// Or, create it with a different I2C address (say for stacking)
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// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
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// Connect a stepper motor with 200 steps per revolution (1.8 degree)
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// to motor port #2 (M3 and M4)
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Adafruit_StepperMotor *myStepper = AFMS.getStepper(200, 2);
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// And connect a DC motor to port M1
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Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
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// We'll also test out the built in Arduino Servo library
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Servo servo1;
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void setup() {
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Serial.begin(9600); // set up Serial library at 9600 bps
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Serial.println("MMMMotor party!");
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AFMS.begin(); // create with the default frequency 1.6KHz
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//AFMS.begin(1000); // OR with a different frequency, say 1KHz
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// Attach a servo to pin #10
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servo1.attach(10);
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// turn on motor M1
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myMotor->setSpeed(200);
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myMotor->run(RELEASE);
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// setup the stepper
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myStepper->setSpeed(10); // 10 rpm
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}
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int i;
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void loop() {
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myMotor->run(FORWARD);
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for (i=0; i<255; i++) {
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servo1.write(map(i, 0, 255, 0, 180));
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myMotor->setSpeed(i);
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myStepper->step(1, FORWARD, INTERLEAVE);
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delay(3);
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}
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for (i=255; i!=0; i--) {
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servo1.write(map(i, 0, 255, 0, 180));
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myMotor->setSpeed(i);
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myStepper->step(1, BACKWARD, INTERLEAVE);
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delay(3);
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}
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myMotor->run(BACKWARD);
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for (i=0; i<255; i++) {
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servo1.write(map(i, 0, 255, 0, 180));
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myMotor->setSpeed(i);
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myStepper->step(1, FORWARD, DOUBLE);
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delay(3);
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}
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for (i=255; i!=0; i--) {
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servo1.write(map(i, 0, 255, 0, 180));
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myMotor->setSpeed(i);
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myStepper->step(1, BACKWARD, DOUBLE);
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delay(3);
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}
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} |