Arduino uno R3

1.Preparation

Connect the motor drive board and Arduino UNO according to the wiring diagram, connect the battery to the power input interface on motor drive module.

Note: The motor interface wire sequence of the dual motor drive board should correspond to the motor pin! Otherwise, the motor drive plate will be damaged

Note: The motor interface wire sequence of the dual motor drive board.

2.Code

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#include "PinChangeInt.h"    //External interrupt

/////////////////////////// Wiring method of this routine///////////////////////////
//  ArduinoUNOpin ------ AT8236module
//        Pin5        ---        BIN1
//        Pin6        ---        BIN2
//        Pin9        ---        AIN1
//        Pin10       ---        AIN2
//        PinA5       ---        ADC
//        Pin8        ---        E1A
//        Pin4        ---        E1B
//        Pin7        ---        E2A
//        Pin2        ---        E2B
//         GND        ---        GND

/////////PWM Output pin////////
#define BIN1 5
#define BIN2 6
#define AIN1 9
#define AIN2 10
#define Voltage A5 //Analog pin reading power supply voltage

/////////Encoder pin////////
#define ENCODER_L 8  //Encoder acquisition pins: 2 for each channel, 4 in total
#define DIRECTION_L 4
#define ENCODER_R 7
#define DIRECTION_R 2

double V; //Store voltage variable
unsigned long TimeA=0;
unsigned long EncoderTime=0;
bool EncoderFlag=1;
bool Mode=0;
unsigned char LED_Count;
volatile long Velocity_L, Velocity_R ;   //Left and right wheel encoder data
float Velocity_Left, Velocity_Right = 0;   //Left and right wheel speed
int delayShow=0;
unsigned long TimeB=0;
bool MotorFlag=1;
bool TimeFlag=1;

//The default PWM value can be set directly through the serial port for different speeds
int putPWM = 255;

void setup() {
  // put your setup code here, to run once:
  //PWMpin
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);

  //LEDpin
  pinMode(13, OUTPUT);

  //Analog input pin
  pinMode(Voltage,INPUT); //Initialize as input

  //Encoder pin
  pinMode(ENCODER_L, INPUT);  
  pinMode(DIRECTION_L, INPUT);
  pinMode(ENCODER_R, INPUT);
  pinMode(DIRECTION_R, INPUT);

  attachInterrupt(0, READ_ENCODER_R, CHANGE);           //Enable external interrupt encoder interface 1
  attachPinChangeInterrupt(4, READ_ENCODER_L, CHANGE);  //Enable external interrupt encoder interface 2

  //The PWM pin is set to zero to ensure that the motor does not rotate randomly. The parameter range is 0~255255, which is the full amplitude duty cycle
  analogWrite(AIN1, 0);
  analogWrite(AIN2, 0);
  analogWrite(BIN1, 0);
  analogWrite(BIN2, 0);

 //Initialize serial port for outputting battery voltage
  Serial.begin(9600);
 
}

//Set the PWM value of motor A, the range is - 255~255, where 0~255 corresponds to the duty ratio of 0~100, and a negative number means the motor is reversed
void Set_PWMA(int pwm)
{
  if(pwm>0)
  {
    analogWrite(AIN1, 255);
    analogWrite(AIN2, 255-pwm);
  }
  else
  {
    analogWrite(AIN2, 255);
    analogWrite(AIN1, 255+pwm);
  }
}

//Set the PWM value of motor B, the range is - 255~255, where 0~255 corresponds to duty cycle 0~100, and a negative number indicates the motor is in reverse direction
void Set_PWMB(int pwm)
{
  if(pwm>0)
  {
    analogWrite(BIN1, 255);
    analogWrite(BIN2, 255-pwm);
  }
  else
  {
    analogWrite(BIN2, 255);
    analogWrite(BIN1, 255+pwm);
  }
}

/*****Function function: external interrupt reads encoder data and has double frequency function. Note that external interrupt is triggered by jump edge********/
void READ_ENCODER_L() {
  if (digitalRead(ENCODER_L) == LOW) {     //If it is the interruption triggered by the falling edge
    if (digitalRead(DIRECTION_L) == LOW)      Velocity_L--;  //Determine direction according to another phase level
    else      Velocity_L++;
  }
  else {     //If it is an interruption triggered by the rising edge
    if (digitalRead(DIRECTION_L) == LOW)      Velocity_L++; //Determine direction according to another phase level
    else     Velocity_L--;
  }
}
/*****Function function: external interrupt reads encoder data and has double frequency function. Note that external interrupt is triggered by jump edge********/
void READ_ENCODER_R() {
  if (digitalRead(ENCODER_R) == LOW) { //If it is the interruption triggered by the falling edge
    if (digitalRead(DIRECTION_R) == LOW)      Velocity_R++;//Determine direction according to another phase level
    else      Velocity_R--;
  }
  else {   //If it is an interruption triggered by the rising edge
    if (digitalRead(DIRECTION_R) == LOW)      Velocity_R--; //Determine direction according to another phase level
    else     Velocity_R++;
  }
}

void loop() {

  // put your main code here, to run repeatedly:
  TimeA = millis(); //Get boot time

  //Record timestamp
  if(EncoderFlag) EncoderFlag=0,EncoderTime = TimeA;
  if(TimeFlag) TimeFlag=0,TimeB = TimeA;

  //Serial port changes PWM value to change motor speed
  if(Serial.available())
  {
    int getInt = Serial.parseInt(); //Resolve the integer in the serial port data
    if(getInt>255) getInt=255;
    if(getInt<-255) getInt=-255;
    putPWM = getInt;
  }

  //Change the rotation direction of the motor once every 4 seconds
  if(TimeA-TimeB>3999) TimeFlag=1,MotorFlag=!MotorFlag;
  if(MotorFlag)Set_PWMA(putPWM),Set_PWMB(putPWM);
  else Set_PWMA(-putPWM),Set_PWMB(-
 For STM32
For RaspberryPi