Example 07‐Motor variable speed, direction‐ and main‐switch - GSTCH/SketchMadeEASY GitHub Wiki

Motor variable speed, controlled by switch (L-0-R) and a additional main switch (0-1). Sketch Made EASY supports controlling motors by different chips (shields):

The different variants are presented in the following chapters. The difference is in the definition of the actuator. If Sketch Made EASY is installed, it can be opened via menu: "File:/Example/SketchMadeEASY/Examples/07-MotorVariableSpeedDirectionAndMainSwitch".

L298

Schematic

Code

#include <Easy.h>

//*****************************************************************
// Parameter Motor L298
#define MOTOR_SPEEDPIN 10
#define MOTOR_DIRECTIONPIN 12
// Parameter MainSwitch
#define MAIN_SWITCH_PIN 29
// Parameter of Switch
#define MOTOR_SWITCH_FORWARDPIN 32
#define MOTOR_SWITCH_BACKWARDPIN 33
// Parameter variable Input
#define VARIABLE_INPUT_PIN A15

void setup() {
  //((*** Initialize: Configure your sketch here....

  //** Create actuator:
  Actuator* motor = new MotorL298(MOTOR_DIRECTIONPIN, MOTOR_SPEEDPIN);

  //** Create input:
  // Create input direction switch
  Input* motorSwitch = new Switch3Position(MOTOR_SWITCH_FORWARDPIN, MOTOR_SWITCH_BACKWARDPIN);

  // Create input main switch
  Input* mainSwitch = new Switch2Position(MAIN_SWITCH_PIN);

  // Create variable input, defines speed
  Input* motorSpeed = new VariableInput(VARIABLE_INPUT_PIN);
  // To turn backward an inverter changes the sign of the variable input value
  Input* inverter = new Inverter(motorSpeed);

  //** Define logic with conditions and relations
  // Define relation when motor turns forward
  Condition* motorForwardCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::On, LgAND, motorSwitch, OpEQ, Switch3Position::Pos1);
  Relation* relationMotorForward = new Relation1to1(motorForwardCondition, motor, motorSpeed);

  // Define relation when motor turns backward
  Condition* motorBackwardCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::On, LgAND, motorSwitch, OpEQ, Switch3Position::Pos2);
  Relation* relationMotorBackward = new Relation1to1(motorBackwardCondition, motor, inverter);

  // Define relation when motor stops
  Condition* motorStopCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::Off, LgOR, motorSwitch, OpEQ, Switch3Position::PosMid);
  Relation* relationMotorStop = new Relation1to1(motorStopCondition, motor, FixValue::Off());
  // ***))

  // Initialize control
  ControlManagerFactory::GetControlManager()->Setup();
}

//*****************************************************************
void loop() {
  //*** Run: No additional code is required
  ControlManagerFactory::GetControlManager()->Loop();

  // Depending on Arduino it needs a short delay. Do not add any other delays!
  delay(5);
}

Adafruit MotorShield V2 at I2C‐Bus

Schematic

Code

#include <Easy.h>

//*****************************************************************
// Parameter  I2C Motor
#define MOTOR_NUMBER 1
// Parameter MainSwitch
#define MAIN_SWITCH_PIN 29
// Parameter of Switch
#define MOTOR_SWITCH_FORWARDPIN 32
#define MOTOR_SWITCH_BACKWARDPIN 33
// Parameter variable Input
#define VARIABLE_INPUT_PIN A15

void setup() {
  //((*** Initialize: Configure your sketch here....

  //** Create actuator:
  Actuator* motor = new MotorI2C(MOTOR_NUMBER);

  //** Create input:
  // Create input direction switch
  Input* motorSwitch = new Switch3Position(MOTOR_SWITCH_FORWARDPIN, MOTOR_SWITCH_BACKWARDPIN);

  // Create input main switch
  Input* mainSwitch = new Switch2Position(MAIN_SWITCH_PIN);

  // Create variable input, defines speed
  Input* motorSpeed = new VariableInput(VARIABLE_INPUT_PIN);
  // To turn backward an inverter changes the sign of the variable input value
  Input* inverter = new Inverter(motorSpeed);

  //** Define logic with conditions and relations
  // Define relation when motor turns forward
  Condition* motorForwardCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::On, LgAND, motorSwitch, OpEQ, Switch3Position::Pos1);
  Relation* relationMotorForward = new Relation1to1(motorForwardCondition, motor, motorSpeed);

  // Define relation when motor turns backward
  Condition* motorBackwardCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::On, LgAND, motorSwitch, OpEQ, Switch3Position::Pos2);
  Relation* relationMotorBackward = new Relation1to1(motorBackwardCondition, motor, inverter);

  // Define relation when motor stops
  Condition* motorStopCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::Off, LgOR, motorSwitch, OpEQ, Switch3Position::PosMid);
  Relation* relationMotorStop = new Relation1to1(motorStopCondition, motor, FixValue::Off());
  // ***))

  // Initialize control
  ControlManagerFactory::GetControlManager()->Setup();
}

//*****************************************************************
void loop() {
  //*** Run: No additional code is required
  ControlManagerFactory::GetControlManager()->Loop();

  // Depending on Arduino it needs a short delay. Do not add any other delays!
  delay(5);
}

L9110 chip

Schematic

Code

//*****************************************************************
// Parameter Motor L9110
#define MOTOR_PINA1 44
#define MOTOR_PINB1 46
#define MOTOR_PINA2 11
#define MOTOR_PINB2 12
// Parameter MainSwitch
#define MAIN_SWITCH_PIN 29
// Parameter of Switch
#define MOTOR_SWITCH_FORWARDPIN 32
#define MOTOR_SWITCH_BACKWARDPIN 33
// Parameter variable Input
#define VARIABLE_INPUT_PIN A15

void setup() {
  //((*** Initialize: Configure your sketch here....

  //** Create actuator:
  Actuator* motor = new MotorL9110(MOTOR_PINA1, MOTOR_PINB1);

  //** Create input:
  // Create input direction switch
  Input* motorSwitch = new Switch3Position(MOTOR_SWITCH_FORWARDPIN, MOTOR_SWITCH_BACKWARDPIN);

  // Create input main switch
  Input* mainSwitch = new Switch2Position(MAIN_SWITCH_PIN);

  // Create variable input, defines speed
  Input* motorSpeed = new VariableInput(VARIABLE_INPUT_PIN);
  // To turn backward an inverter changes the sign of the variable input value
  Input* inverter = new Inverter(motorSpeed);

  //** Define logic with conditions and relations
  // Define relation when motor turns forward
  Condition* motorForwardCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::On, LgAND, motorSwitch, OpEQ, Switch3Position::Pos1);
  Relation* relationMotorForward = new Relation1to1(motorForwardCondition, motor, motorSpeed);

  // Define relation when motor turns backward
  Condition* motorBackwardCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::On, LgAND, motorSwitch, OpEQ, Switch3Position::Pos2);
  Relation* relationMotorBackward = new Relation1to1(motorBackwardCondition, motor, inverter);

  // Define relation when motor stops
  Condition* motorStopCondition = new LogicCondition(mainSwitch, OpEQ, Switch2Position::Off, LgOR, motorSwitch, OpEQ, Switch3Position::PosMid);
  Relation* relationMotorStop = new Relation1to1(motorStopCondition, motor, FixValue::Off());
  // ***))

  // Initialize control
  ControlManagerFactory::GetControlManager()->Setup();
}

//*****************************************************************
void loop() {
  //*** Run: No additional code is required
  ControlManagerFactory::GetControlManager()->Loop();

  // Depending on Arduino it needs a short delay. Do not add any other delays!
  delay(5);
}
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