l298.ino

#include <stdint.h>


#define EN1A 9
#define M1A  8
#define EN1B 3
#define M1B  2
#define EN2A 4
#define M2A  5
#define EN2B 7
#define M2B  6
#define C1 A0
#define C2 A1

void setup()
{

    pinMode(EN1A,OUTPUT);
    pinMode( M1A,OUTPUT);
    pinMode(EN1B,OUTPUT);
    pinMode( M1B,OUTPUT);
    pinMode(EN2A,OUTPUT);
    pinMode( M2A,OUTPUT);
    pinMode(EN2B,OUTPUT);
    pinMode( M2B,OUTPUT);
    
    Serial.begin(9600);
}

typedef struct return_data current;

struct return_data
    {
    uint32_t c_1;  //current one
    uint32_t c_2;  //current two
    //quadrature encoder data can come in here
    //accelerometer data?
    };
    
uint32_t forward(current *curr)
  {
      digitalWrite(M1A,HIGH); //right wheel channel 1
      digitalWrite(M1B,HIGH); //right wheel channel 2
      digitalWrite(EN1A,HIGH); //right enable channel 1
      digitalWrite(EN1B,HIGH); //right enable channel 2
      digitalWrite(M2A,LOW);   //left wheel channel 1
      digitalWrite(M2B,LOW);   //left wheel channel 2
      digitalWrite(EN2A,HIGH); //left enable channel 1
      digitalWrite(EN2B,HIGH); //left enable channel 2
      curr->c_1 = analogRead(C1);
      curr->c_2 = analogRead(C2); // check current for both wheels
      return (0);
  }
 
uint32_t stop(current *curr)
  {
      digitalWrite(EN1A,LOW);  //brake -roll-to-stop
      digitalWrite(EN1B,LOW); //brake  -roll-to-stop right
      digitalWrite(EN2A,LOW);  //brake -roll-to-stop left
      digitalWrite(EN2B,LOW); //brake  -roll-to-stop left
      curr->c_1 = analogRead(C1);
      curr->c_2 = analogRead(C2); // check current for both wheels
      return (0);
  }
  
  
uint32_t reverse(current *curr)
  {
 //right wheel channel 1
    digitalWrite(M1A,LOW); //right wheel channel 2
    digitalWrite(M1B,LOW); //right wheel channel 2
    digitalWrite(EN1A,HIGH); //right enable channel 1
    digitalWrite(EN1B,HIGH); //right enable channel 2
    digitalWrite(M2A,HIGH);   //left wheel channel 1
    digitalWrite(M2B,HIGH);   //left wheel channel 2
    digitalWrite(EN2A,HIGH); //left enable channel 1
    digitalWrite(EN2B,HIGH); //left enable channel 2
    Serial.println(analogRead(C1)); // check current for right wheel
    Serial.println(analogRead(C2)); // check current for left  wheel
    curr->c_1 = analogRead(C1);
    curr->c_2 = analogRead(C2); // check current for both wheels
    return (0);
}

current moment; // a global scope for current sensor info


void loop()
{
    
    forward(&moment);
    Serial.print("C_1 %d", moment->c_1);
    Serial.print("C_2 %d", moment->c_2);  // print the relevant information
    
}