Due Motor Shield Example

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1const int
2PWM_A   = 3,
3DIR_A   = 12,
4BRAKE_A = 9,
5SNS_A   = A0;
6
7
8void setup() {
9  // Configure the A output
10  pinMode(BRAKE_A, OUTPUT);  // Brake pin on channel A
11  pinMode(DIR_A, OUTPUT);    // Direction pin on channel A
12
13  // Open Serial communication
14  Serial.begin(9600);
15  Serial.println("Motor shield DC motor Test:\n");
16}
17
18void loop() {
19
20// Set the outputs to run the motor forward
21
22  digitalWrite(BRAKE_A, LOW);  // setting brake LOW disable motor brake
23  digitalWrite(DIR_A, HIGH);   // setting direction to HIGH the motor will spin forward
24
25  analogWrite(PWM_A, 255);     // Set the speed of the motor, 255 is the maximum value
26
27  delay(5000);                 // hold the motor at full speed for 5 seconds
28  Serial.print("current consumption at full speed: ");
29  Serial.println(analogRead(SNS_A));
30
31// Brake the motor
32
33  Serial.println("Start braking\n");
34  // raising the brake pin the motor will stop faster than the stop by inertia
35  digitalWrite(BRAKE_A, HIGH);  // raise the brake
36  delay(5000);
37
38// Set the outputs to run the motor backward
39
40  Serial.println("Backward");
41  digitalWrite(BRAKE_A, LOW);  // setting againg the brake LOW to disable motor brake
42  digitalWrite(DIR_A, LOW);    // now change the direction to backward setting LOW the DIR_A pin
43
44  analogWrite(PWM_A, 255);     // Set the speed of the motor
45
46  delay(5000);
47  Serial.print("current consumption backward: ");
48  Serial.println(analogRead(SNS_A));
49
50  // now stop the motor by inertia, the motor will stop slower than with the brake function
51  analogWrite(PWM_A, 0);       // turn off power to the motor
52
53  Serial.print("current brake: ");
54  Serial.println(analogRead(A0));
55  Serial.println("End of the motor shield test with DC motors. Thank you!");
56
57
58  while(1);
59}