60 lines
957 B
C
60 lines
957 B
C
#include <wiringPi.h>
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#define M1_IN1 8 // PIN 3
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#define M1_IN2 7 // PIN 7
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#define M2_IN1 9 // PIN 5
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#define M2_IN2 15 // PIN 8
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// OUT1 -> OUT2
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void forward(int in1, int in2) {
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digitalWrite(in1, LOW);
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digitalWrite(in2, HIGH);
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}
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// OUT2 -> OUT1
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void reverse(int in1, int in2) {
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digitalWrite(in1, HIGH);
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digitalWrite(in2, LOW);
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}
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void brake(int in1, int in2) {
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digitalWrite(in1, LOW);
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digitalWrite(in2, LOW);
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}
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void off(int in1, int in2) {
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digitalWrite(in1, HIGH);
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digitalWrite(in2, HIGH);
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}
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int main(void) {
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wiringPiSetup();
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pinMode(M1_IN1, OUTPUT);
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pinMode(M1_IN2, OUTPUT);
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pinMode(M2_IN1, OUTPUT);
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pinMode(M2_IN2, OUTPUT);
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// FORWARD
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forward(M1_IN1, M1_IN2);
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forward(M2_IN1, M1_IN2);
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delay(1000);
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// PARK
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brake(M1_IN1, M1_IN2);
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brake(M2_IN1, M2_IN2);
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delay(1000);
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//REVERSE
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reverse(M1_IN1, M1_IN2);
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reverse(M2_IN1, M2_IN2);
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delay(1000);
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// OFF
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off(M1_IN1, M1_IN2);
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off(M2_IN1, M2_IN2);
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delay(1000);
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return 0;
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}
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