QUAD MOTOR - OPEN SMART

 

#include <Adafruit_PCF8574.h>

/* Example for 1 output LED that is connected from power to the GPIO expander pin #7

 * Note the LEDs must be connected with the CATHODES to the expander, to SINK current!

 * The PCF8574 cannot SOURCE current!

 P0 = AIN1

 P1 = AIN2

 P2 = BIN1

 P3 = BIN2

 P4 = CIN1

 P5 = CIN2

 P6 = DIN1

 P7 = DIN2

 MOTOR DELANT IZQUIER  = MOTOR A

 MOTOR DELANT DERECHO  = MOTOR B

 MOTOR TRASERO IZQUIER = MOTOR C

 MOTOR TRASERO DERECHO = MOTOR D

 MOTOR A          MOTOR B

 MOTOR C          MOTOR D

 */

Adafruit_PCF8574 pcf;

#define PIN_PWMA 3

#define PIN_PWMB 5

#define PIN_PWMC 6

#define PIN_PWMD 11

uint8_t speed0 = 150;

void setup() {

  while (!Serial) { delay(10); }

  Serial.begin(9600);

  Serial.println("Adafruit PCF8574 LED blink test");

  if (!pcf.begin(0x20, &Wire)) {

    Serial.println("Couldn't find PCF8574");

    while (1);

  }

 

  pcf.pinMode(0, OUTPUT);

  pcf.pinMode(1, OUTPUT);

  pcf.pinMode(2, OUTPUT);

  pcf.pinMode(3, OUTPUT);

  pcf.pinMode(4, OUTPUT);

  pcf.pinMode(5, OUTPUT);

  pcf.pinMode(6, OUTPUT);

  pcf.pinMode(7, OUTPUT);

  pinMode(PIN_PWMA, OUTPUT);

  pinMode(PIN_PWMB, OUTPUT);

  pinMode(PIN_PWMC, OUTPUT);

  pinMode(PIN_PWMD, OUTPUT);

  analogWrite(PIN_PWMA, speed0);

  analogWrite(PIN_PWMB, speed0);

  analogWrite(PIN_PWMC, speed0);

  analogWrite(PIN_PWMD, speed0);

}

void loop() {

  pcf.digitalWrite(2, LOW);  // turn LED on by sinking current to ground

  pcf.digitalWrite(3, HIGH); // turn LED off by turning off sinking transistor

  delay(2000);

  pcf.digitalWrite(2, LOW);

  pcf.digitalWrite(3, LOW);

  delay(1000);

  pcf.digitalWrite(2, HIGH);  // turn LED on by sinking current to ground

  pcf.digitalWrite(3, LOW); // turn LED off by turning off sinking transistor

  delay(2000);

  pcf.digitalWrite(2, LOW);

  pcf.digitalWrite(3, LOW);

  delay(1000);

}

void Avanza(){

 pcf.digitalWrite(0, LOW);

 pcf.digitalWrite(1, HIGH);

 pcf.digitalWrite(2, LOW);

 pcf.digitalWrite(3, HIGH);

 pcf.digitalWrite(4, LOW);

 pcf.digitalWrite(5, HIGH);

 pcf.digitalWrite(6, LOW);

 pcf.digitalWrite(7, HIGH);

}

void Retrocede(){

 pcf.digitalWrite(1, LOW);

 pcf.digitalWrite(0, HIGH);

 pcf.digitalWrite(3, LOW);

 pcf.digitalWrite(2, HIGH);

 pcf.digitalWrite(5, LOW);

 pcf.digitalWrite(4, HIGH);

 pcf.digitalWrite(7, LOW);

 pcf.digitalWrite(6, HIGH);

}

void Stop(){

 pcf.digitalWrite(0, LOW);

 pcf.digitalWrite(1, LOW);

 pcf.digitalWrite(2, LOW);

 pcf.digitalWrite(3, LOW);

 pcf.digitalWrite(4, LOW);

 pcf.digitalWrite(5, LOW);

 pcf.digitalWrite(6, LOW);

 pcf.digitalWrite(7, LOW);

}

void Derecha(){

 pcf.digitalWrite(0, LOW);

 pcf.digitalWrite(1, HIGH);

 pcf.digitalWrite(2, HIGH);

 pcf.digitalWrite(3, LOW);

 pcf.digitalWrite(4, LOW);

 pcf.digitalWrite(5, HIGH);

 pcf.digitalWrite(6, HIGH);

 pcf.digitalWrite(7, LOW);

}

void Izquierda(){

 pcf.digitalWrite(0, HIGH);

 pcf.digitalWrite(1, LOW);

 pcf.digitalWrite(2, LOW);

 pcf.digitalWrite(3, HIGH);

 pcf.digitalWrite(4, HIGH);

 pcf.digitalWrite(5, LOW);

 pcf.digitalWrite(6, LOW);

 pcf.digitalWrite(7, HIGH);

}