Purpose:
To control one or two DC motors is quite easy with the L298N H-bridge module. First connect each motor to the A and B connections on the L298N module.
If you’re using two motors for a robot (etc) ensure that the polarity of the motors is the same on both inputs. Otherwise you may need to swap them over when you set both motors to forward and one goes backwards!
L298N introduce:
L298N Dual H-Bridge Motor Driver
This dual bidirectional motor driver, is based on the very popular L298 Dual H-Bridge Motor DriverIntegrated Circuit.
The circuit will allow you to easily and independently control two motors of up to 2A each in both directions.It is ideal for robotic applications and well suited for connection to a microcontroller requiring just a couple of control lines per motor. It can also be interfaced with simple manual switches, TTL logic gates, relays, etc. This board equipped with power LED indicators, on-board +5V regulator and protection diodes.
Circuit:
#include <Robojax_L298N_DC_motor.h>
#include <BluetoothSerial.h>
//--------- Flag structure --------------------------------------
typedef struct _vFlag
{
uint8_t BTFlag = 0;
uint8_t DC_Flag = 0;
uint8_t CANFlag = 0;
uint8_t I2C_Flag = 0;
uint8_t BMP180Flag = 0;
uint8_t DS18B20Flag = 0;
uint8_t JSONFlag = 0;
uint8_t Radar_L_Flag = 0;
uint8_t Radar_R_Flag = 0;
uint8_t sensor_Flag = 0;
uint8_t sensor1_Flag = 0;
uint8_t initial_Flag = 0;
uint8_t Tone_Flag = -1;
uint8_t IR_RECV_Flag=0;
uint8_t IR_SEND_Flag=0;
uint8_t FunctionFlag = 3;
uint8_t SendFlag = 0;
uint8_t BMPCnt = 0;
} vFlag;
vFlag *flag_Ptr;
vFlag flag;
//----------uart--------------
#define LINE_BUFFER_LENGTH 64
//--------- uart structure --------------------------------------
typedef struct _vUart
{
char c;
int lineIndex = 0;
int line1Index = 0;
int BTlineIndex = 0;
bool lineIsComment;
bool lineSemiColon;
char line[128];
char BTline[20];
String inputString;
String BTinputString;
String S1inputString;
int V[16];
char ctemp[30];
char I2C_Data[80];
int DC_Spped = 50;
float Voltage[16];
int Buffer[128];
int StartCnt = 0;
int ReadCnt = 0;
int sensorValue = 0;
} vUart;
vUart *Uart_Ptr;
vUart Uart;
//---------BT--------------------
BluetoothSerial SerialBT;
//-------------L298---------------------------------------------------
// motor 1 settings
#define CHA 0
#define ENA 4 // this pin must be PWM enabled pin if Arduino board is used
#define IN1 16
#define IN2 17
// motor 2 settings
#define IN3 18
#define IN4 19
#define ENB 5// this pin must be PWM enabled pin if Arduino board is used
#define CHB 1
const int CCW = 2; // do not change
const int CW = 1; // do not change
#define motor1 1 // do not change
#define motor2 2 // do not change
// for two motors without debug information // Watch video instruciton for this line: https://youtu.be/2JTMqURJTwg
Robojax_L298N_DC_motor motors(IN1, IN2, ENA, CHA, IN3, IN4, ENB, CHB);
void Forward() //電機前進
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CCW);
motors.rotate(motor2, 70, CCW);
}
void Reverse(){
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CW);
motors.rotate(motor2, 70, CW);
}
void Left()
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor1, 70, CW);//run motor2 at 60% speed in CCW direction
}
void Right()
{
motors.brake(1);
motors.brake(2);
motors.rotate(motor2, 70, CW);
}
void Stop() //電機停止
{
motors.brake(1);
motors.brake(2);
}
//-------------------------------------------------
void setup()
{
Serial.begin(9600);
Serial.println(F("init"));
SerialBT.begin("BT_Node12");// BTName為藍芽廣播名稱
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
}
//-----------------------------------------
void loop()
{
Serial.print(F("Main at core:"));
Serial.println(xPortGetCoreID());
while(1)
{
while (Serial.available() > 0)
{
Uart.c = Serial.read();
if ((Uart.c == '\n') || (Uart.c == '\r'))
{ // End of line reached
if (Uart.lineIndex > 0)
{ // Line is complete. Then execute!
Uart.line[Uart.lineIndex] = '\0'; // Terminate string
processCommand(Uart.line); // do something with the command
Uart.lineIndex = 0;
Uart.inputString = "";
}
else
{
// Empty or comment line. Skip block.
}
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
Serial.println(F("ok>"));
}
else
{
if ((Uart.lineIsComment) || (Uart.lineSemiColon))
{
if (Uart.c == ')')
Uart.lineIsComment = false; // End of comment. Resume line.
}
else
{
if (Uart.c == '/')
{ // Block delete not supported. Ignore character.
}
else if (Uart.c == '~')
{ // Enable comments flag and ignore all characters until ')' or EOL.
Uart.lineIsComment = true;
}
else if (Uart.c == ';')
{
Uart.lineSemiColon = true;
}
else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)
{
Serial.println("ERROR - lineBuffer overflow");
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
}
else if (Uart.c >= 'a' && Uart.c <= 'z')
{ // Upcase lowercase
Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += (char)(Uart.c - 'a' + 'A');
}
else
{
Uart.line[Uart.lineIndex] = Uart.c;
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += Uart.c;
}
}
}
} //while (Serial.available() > 0)
//檢查藍芽內是否有資料
while (SerialBT.available())
{
//讀取藍芽資料
String BTdata = SerialBT.readString();
//顯示在序列視窗
Serial.println(BTdata);
BTprocessCommand(BTdata); // do something with the command
}//while (BT.available())
}
}
//-------------------BT-----------------
void BTprocessCommand(String data)
{
if (data =="F")
{
Serial.println(F("Forward"));
Forward();
}
if (data == "L")
{
Serial.println(F("Left"));
Left();
}
if (data == "R")
{
Serial.println(F("Right"));
Right();
}
if (data == "B")
{
Serial.println(F("Reverse"));
Reverse();
}
if (data == "S")
{
Serial.println(F("Stop"));
Stop();
}
}
//----------------------------------------
void processCommand(char *data)
{
int len, xlen, ylen, zlen, alen;
int tempDIO;
String stemp;
len = Uart.inputString.length();
//---------------------------------------
if (strstr(data, "VER") != NULL)
{
Serial.println(F("ESP32_20230710"));
}
if (strstr(data, "F") != NULL)
{
Serial.println(F("Forward"));
Forward();
}
if (strstr(data, "L") != NULL)
{
Serial.println(F("Left"));
Left();
}
if (strstr(data, "R") != NULL)
{
Serial.println(F("Right"));
Right();
}
if (strstr(data, "B") != NULL)
{
Serial.println(F("Reverse"));
Reverse();
}
if (strstr(data, "S") != NULL)
{
Serial.println(F("Stop"));
Stop();
}
}
//-----------------------------------------
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