Simple Activities - Motion Control

Problem Statement

• Write a code to Alphabot which has to move forward for 2 seconds, turn left for 2 seconds, turn right for 2 seconds, move backward for 2 seconds, and repeat.

Code

#define PWMA 6 // Motor Speed L
#define PWMB 5 // Motor Speed R
#define AIN2 A0 // L - Forward
#define AIN1 A1 // L - Backward
#define BIN1 A2 // R - Backward
#define BIN2 A3 // R - Forward

void setup() {
  pinMode(PWMA,OUTPUT);
  pinMode(AIN2,OUTPUT);      
  pinMode(AIN1,OUTPUT);
  pinMode(PWMB,OUTPUT);       
  pinMode(AIN1,OUTPUT);     
  pinMode(AIN2,OUTPUT);
}

void moveFront(){
  analogWrite(PWMA , 250);
  analogWrite(PWMB , 250);
  digitalWrite(AIN2 , HIGH);
  digitalWrite(BIN2 , HIGH);
  delay(2000); 
  analogWrite(PWMA , 0);
  analogWrite(PWMB , 0);
  delay(2000); 
}

void moveLeft(){
  analogWrite(PWMB , 250);
  digitalWrite(BIN2 , HIGH);
  delay(2000);
  analogWrite(PWMB , 0);
  digitalWrite(BIN2 , LOW);
  delay(2000);
}

void moveRight(){
  analogWrite(PWMA , 250);
  digitalWrite(AIN2 , HIGH);
  delay(2000);
  analogWrite(PWMA , 0);
  digitalWrite(AIN2 , LOW);
  delay(2000);
}

void moveBack(){
  analogWrite(PWMA , 250);
  analogWrite(PWMB , 250);
  digitalWrite(AIN1 , HIGH);
  digitalWrite(BIN1 , HIGH);
  delay(2000); 
  analogWrite(PWMA , 0);
  analogWrite(PWMB , 0);
  digitalWrite(AIN1 , LOW);
  digitalWrite(BIN1 , LOW);
}

void loop() {
  
  moveFront();
  moveLeft();
  moveRight();
  moveBack();
  delay(1000);
}

Output

Exercise 🤖

• Try to make the robot move in a square motion.
• Try to make the robot move in a circular motion.