Ludus_Example.ino

/*
 * SparkFun Ludus ProtoShield Example Code
 * SparkFun Electronics
 * Nick Poole 2015
 *
 * This is an Arduino shield that integrates an H-Bridge Driver and
 * breaks out all I/O ports to three-pin headers on a GND/PWR/SIG
 * standard. This enables quick prototyping and integration of
 * Arduino projects w/o the need of a breadboard.
 *
 * Ludus is the mascot of the SparkFun Education team.
 * It is a highly intelligent octopus.
 *
 * Please check the License.md file for licensing information.
*/

#include <Servo.h>

Servo swivel;

int pwm_a = 3;   // Channel A speed
int pwm_b = 6;   // Channel B speed
int dir_a0 = 4;  // Channel A direction 0
int dir_a1 = 5;  // Channel A direction 1
int dir_b0 = 7;  // Channel B direction 0
int dir_b1 = 8;  // Channel B direction 1

char inbit; // A place to store serial input

int swivelpos = 90; // Servo position

void setup()
{

  Serial.begin(9600); // Pour a bowl of serial

  swivel.attach(11); // Attach servo to pin 11
  swivel.write(swivelpos);

  pinMode(pwm_a, OUTPUT);  // Set control pins to be outputs
  pinMode(pwm_b, OUTPUT);
  pinMode(dir_a0, OUTPUT);
  pinMode(dir_a1, OUTPUT);
  pinMode(dir_b0, OUTPUT);
  pinMode(dir_b1, OUTPUT);

  draw(); // Draw the driving instructions to the serial terminal

}

void loop()
{

if(Serial.available()){ // Wait for serial input

  inbit = Serial.read();

  switch(inbit){ // Switch based on serial in

    case 'w': // Move Forward

      forward(200);
      delay(30);
      shutoff();
      break;

    case 's': // Move Backward

      reverse(200);
      delay(30);
      shutoff();
      break;

    case 'q': // Turn Left while moving forward

      turnL(200);
      delay(30);
      shutoff();
      break;

    case 'e': // Turn Right while moving forward

      turnR(200);
      delay(30);
      shutoff();
      break;

    case 'a': // Spin Left in place

      spinL(200);
      delay(30);
      shutoff();
      break;

    case 'd': // Spin Right in place

      spinR(200);
      delay(30);
      shutoff();
      break;

    case 'x': // Short brake

      brake();
      break;

    case 'z': // Spin servo (on pin 11) left

      servoL();
      break;

    case 'c': // Spin servo (on pin 11) right

      servoR();
      break;

    }
  }
}

void forward(int speed) // Move Forward
{

digitalWrite(dir_a0, 0);
digitalWrite(dir_a1, 1);
digitalWrite(dir_b0, 0);
digitalWrite(dir_b1, 1);

analogWrite(pwm_a, speed);
analogWrite(pwm_b, speed);

}

void reverse(int speed) // Move Backward
{

digitalWrite(dir_a0, 1);
digitalWrite(dir_a1, 0);
digitalWrite(dir_b0, 1);
digitalWrite(dir_b1, 0);

analogWrite(pwm_a, speed);
analogWrite(pwm_b, speed);

}

void turnL(int speed) // Turn Left while moving forward
{

digitalWrite(dir_a0, 0);
digitalWrite(dir_a1, 1);
digitalWrite(dir_b0, 0);
digitalWrite(dir_b1, 1);

analogWrite(pwm_a, speed);
analogWrite(pwm_b, speed/4);

}

void turnR(int speed) // Turn Right while moving forward
{

digitalWrite(dir_a0, 0);
digitalWrite(dir_a1, 1);
digitalWrite(dir_b0, 0);
digitalWrite(dir_b1, 1);

analogWrite(pwm_a, speed/4);
analogWrite(pwm_b, speed);

}


void spinL(int speed) // Spin Left in place
{

digitalWrite(dir_a0, 0);
digitalWrite(dir_a1, 1);
digitalWrite(dir_b0, 1);
digitalWrite(dir_b1, 0);

analogWrite(pwm_a, speed/2);
analogWrite(pwm_b, speed/2);

}

void spinR(int speed) // Spin Right in place
{

digitalWrite(dir_a0, 1);
digitalWrite(dir_a1, 0);
digitalWrite(dir_b0, 0);
digitalWrite(dir_b1, 1);

analogWrite(pwm_a, speed/2);
analogWrite(pwm_b, speed/2);

}

void brake() // Short brake
{

digitalWrite(dir_a0, 1);
digitalWrite(dir_a1, 1);
digitalWrite(dir_b0, 1);
digitalWrite(dir_b1, 1);

analogWrite(pwm_a, 0);
analogWrite(pwm_b, 0);

}

void shutoff() // Stop Motors w/o braking
{

digitalWrite(dir_a0, 0);
digitalWrite(dir_a1, 0);
digitalWrite(dir_b0, 0);
digitalWrite(dir_b1, 0);

analogWrite(pwm_a, 0);
analogWrite(pwm_b, 0);

}

void draw() // Serial Instructions
{
  Serial.println("          DuckBot 2015          ");
  Serial.println("                                ");
  Serial.println("   -------------------------    ");
  Serial.println("   |       |       |       |    ");
  Serial.println("   |   Q   |   W   |   E   |    ");
  Serial.println("   | turnL |forward| turnR |    ");
  Serial.println("   -------------------------    ");
  Serial.println("   |       |       |       |    ");
  Serial.println("   |   A   |   S   |   D   |    ");
  Serial.println("   | spinL |reverse| spinR |    ");
  Serial.println("   -------------------------    ");
  Serial.println("   |       |       |       |    ");
  Serial.println("   |   Z   |   X   |   C   |    ");
  Serial.println("   |servo L| brake |servo R|    ");
  Serial.println("   -------------------------    ");
  Serial.println("                                ");
}

void servoL() // Spin servo (on pin 11) left
{

  if(swivelpos>10){
    swivelpos = swivelpos-10;
    swivel.write(swivelpos);
  }

}

void servoR() // Spin servo (on pin 11) right
{

  if(swivelpos<170){
    swivelpos = swivelpos+10;
    swivel.write(swivelpos);
  }

}