Tafila Technical University
College of Engineering
Department of Computer and Communication Engineering
Real-Time and Embedded Systems (0107445)
Assignment 4
Title DC Motor Control For Robot Movement
Student Name SUBHI MAHER SUBHI KURDIEH
Student ID Number 320200112106
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Objective
The objective is to control robot movement directions bycontrolling2DCmotors.
Apparatus
1.TinkerCad Simulation
2.Embedded board(ArduinoUno)
3.ArduinoIDEsoftware
4.2-DCMotors
5.1-754410/L293DHBridge Driver
6.Breadboard
Block Diagram / Circuit Schematics
Program Code
// Motor A connections
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;
void setup() {
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
// Turn off motors - Initial state
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void loop() {
directionControl();
delay(1000);
speedControl();
delay(1000);
}
// This function lets you control spinning direction of motors
void directionControl() {
// Set motors to maximum speed
// For PWM maximum possible values are 0 to 255
analogWrite(enA, 255);
analogWrite(enB, 255);
// Turn on motor A & B
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);
// Now change motor directions
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(2000);
// Turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
// This function lets you control speed of the motors
void speedControl() {
// Turn on motors
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
// Accelerate from zero to maximum speed
for (int i = 0; i < 256; i++) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Decelerate from maximum speed to zero
for (int i = 255; i >= 0; --i) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
Theory / Calculations/ Plots
Nothing was used.
Observation / Data / System under Test
Step1 Implement the elements using
Tinkercad and make sure of it
Step2 Write and Upload the code on
Tinkercad code field
Step3 We start simulating the circuit and
watch the changes in directions
Step4 We will notice the results on the DC
motor as a movement
Discussion / results
We will notice the results on the DC motor as a movement (forward, backward, left, right)
and we can control the movement period.
Conclusion and recommendations
I recommend to try this experiment on a real robot to see clearly the results and
accomplish the objective.
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