This is the code you'll need to program your Arduino UNO. If you're familiar with code you'll get the idea. if not i'll explain in later posts<div>cut and paste from #include<Servo.h......</div><div>
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</div><div>#include <Servo.h> //needed to operate the servos</div><div>#define midlimit 1700</div><div>Servo myservoA;</div><div>Servo myservoB;</div><div>
</div><div>int Bbrake=8;//brake signal for motor B</div><div>int Abrake=9;//brake signal for motor A</div><div>int motorspdB=11;//PWM speed signal for motor B</div><div>int motorspdA=3;//PWM speed signal for motor A</div><div>int ch5;</div><div>int motorA=12;</div><div>int motorB=13;</div><div>int sensorPinA = A0; // select the input pin for the current</div><div>int sensorPinB = A1; // select the input pin for the current</div><div>int switchpin = 2;</div><div>int sensorValueA = 0; // variable to store the value coming from the sensor</div><div>int sensorValueB = 0; // variable to store the value coming from the sensor</div><div>
</div><div>void setup () {</div><div>
</div><div> pinMode (6, INPUT);</div><div> pinMode (13, OUTPUT);//motor B enable and direction HIGH or LOW</div><div> pinMode (12, OUTPUT);//motor A enable and direction HIGH or LOW</div><div> pinMode (8, OUTPUT);//Brake motor B</div><div> pinMode (9, OUTPUT);//Brake motor A</div><div> pinMode (4, OUTPUT);//servo A pin</div><div> pinMode (7, OUTPUT);//servo B pin </div><div> pinMode (switchpin, OUTPUT);</div><div> myservoA.attach(4);</div><div> myservoB.attach(7);</div><div>}</div><div>void loop () {</div><div>
</div><div> int limitA = 550; //this is the current limit for motor A</div><div> int limitB = 300; //this is the current limit for motor B</div><div> sensorValueB = analogRead(sensorPinB); //this reads the value of current for motorB and sets the variable sensorValueB</div><div> sensorValueA = analogRead(sensorPinA); //this reads the value of current for motorA and sets the variable sensorValueA</div><div> int iB = 0; //this creates and sets a variable named iB which we will use to make sure the motors stop once they reach overcurrent condition</div><div> int iA = 0; //this creates and sets a variable named iA which we will use to make sure the motors stop once they reach overcurrent condition</div><div> myservoA.writeMicroseconds(900);</div><div> myservoB.writeMicroseconds(900);</div><div> ch5 = pulseIn(6, HIGH);</div><div>
</div><div> if (ch5 < midlimit) {</div><div> digitalWrite(switchpin, HIGH);</div><div> }</div><div> else {</div><div> digitalWrite(switchpin, LOW);</div><div> }</div><div> int updwn = digitalRead(switchpin); //this sets the value of the variable updwn which is read from transmitter switch</div><div> int updwn2 = digitalRead(switchpin); //this sets the comparison value of updwn which is read from transmitter switch</div><div>
</div><div> while (updwn == updwn2) { //the while loop here knows the current state of the switch updwn. during the while loop it will continually check </div><div> //the state of the switch by setting updwn2 therefore once the state of the switch changes it will exit the while loop</div><div>
</div><div> if (updwn==1 && sensorValueB < limitB && iB==0) </div><div> {</div><div> analogWrite (motorspdB,255);</div><div> digitalWrite (motorB,HIGH);</div><div> digitalWrite (Bbrake,LOW);</div><div> }</div><div> else if (updwn==0 && sensorValueB < limitB && iB==0) </div><div> {</div><div> analogWrite (motorspdB,255);</div><div> digitalWrite (motorB,LOW);</div><div> digitalWrite (Bbrake,LOW);</div><div> }</div><div> else </div><div> {</div><div> analogWrite (motorspdB,0);</div><div> digitalWrite (Bbrake,LOW);</div><div> myservoB.writeMicroseconds(2095);</div><div> iB++;</div><div> }</div><div> delay(300);</div><div> if (updwn==1 && sensorValueA < limitA && iA==0)</div><div> {</div><div> analogWrite (motorspdA,255);</div><div> digitalWrite (motorA,HIGH);</div><div> digitalWrite (Abrake,LOW);</div><div> }</div><div> else if (updwn==0 && sensorValueA < limitA && iA==0) </div><div> {</div><div> analogWrite (motorspdA,255);</div><div> digitalWrite (motorA,LOW);</div><div> digitalWrite (Abrake,LOW);</div><div> }</div><div> else</div><div> {</div><div> analogWrite (motorspdA,0);</div><div> digitalWrite (Abrake,LOW);</div><div> myservoA.writeMicroseconds(2125);</div><div> iA++;</div><div> } </div><div> delay(200);</div><div>
</div><div> sensorValueB = analogRead(sensorPinB);</div><div> sensorValueA = analogRead(sensorPinA);</div><div>
</div><div> int ch5 = pulseIn(6, HIGH);</div><div> if (ch5 < midlimit) </div><div> {</div><div> digitalWrite(switchpin, HIGH);</div><div> }</div><div> else </div><div> {</div><div> digitalWrite(switchpin, LOW);</div><div> }</div><div> updwn2 = digitalRead(switchpin);</div><div> delay(100);</div><div>
</div><div> }</div><div>}</div><div>
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