arduino+L298N驱动两轮小车

用串口发送指令控制：
#include <L298N.h>
//pin definition
#define IN3 8
#define IN4 9
#define IN1 6
#define IN2
//create a motor instance
void Motor1(boolean reverse)//电机1正转
{
if (reverse) //正转
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
}
else //反转
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
}
}
void Motor2(boolean reverse)//电机2转动
{
if (reverse) //正转
{
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}
else //反转
{
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}
}
void stopMotor()//电机停转
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
delay(500);
}
//
void setup() {
int i;
for (i=6;i<=9;i++) //为Ardunio 电机驱动板
pinMode(i,OUTPUT); //设置数字端口6,7,8,9为输出模式
for (i=6;i<=9;i++)
digitalWrite(i,OUTPUT); //设置数字端口6,7,8,9为HIGH,电机保持不
Serial.begin(9600);
Serial.print("setup");
}
void loop() {
String on="97";
//串口控制
if(Serial.available()>0){
String ch2=String(Serial.read());
Serial.println(ch2);
if(ch2==on){
Serial.println("run");
Motor1(1);
Motor2(1);
delay(500);
//stop running
stopMotor();
}
}
delay(500);
}

//该程序------------针对Atemga8小板----------手机端需蓝牙发送相应指令0 停止，1前进...
//该板用到3456端子 控制L298左右电机
#define IN1 3
#define IN2 4
#define IN3 5
#define IN4 6
char recvChar;
void Motor1(boolean reverse)//电机1正转
{
if (reverse) //正转
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
}
else //反转
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
}
}
//电机2
void Motor2(boolean reverse)//电机2转动
{
if (reverse) //正转
{
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
else //反 转
{
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
}
//电机停止
void stopMotor()//电机停转
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
delay(200);
}
//
void setup()
{
Serial.begin(38400);
Serial.println("BlueTooth Monitor is ready!");
}
void loop()
{
//
if (Serial.available() > 0)
{
recvChar = Serial.read();
Serial.print(recvChar);
//前进
if (recvChar == '1')
{ //digitalWrite(13, HIGH);//灯亮
//Up
Motor1(1);
Motor2(1);
}
//后退
else if (recvChar == '2')
{ //down
Motor1(0);
Motor2(0);
}
//左
else if (recvChar == '3')
{ //Left
Motor1(1);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
delay(50);
//stopMotor();
}
//右
else if (recvChar == '4')
{ //Right
Motor2(1);
digitalWrite(IN1, LOW);
digitalWrite(IN1, LOW);
delay(50);
//stopMotor();
}
//停止
else if (recvChar == '0')
{ //stop
//digitalWrite(13, LOW);//灯灭
stopMotor();
}
}
}