Roboticarm/code.cpp at master · dilemmawalker/Roboticarm · GitHub

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/*
 * created by Yash Handa,
 * Control 6 DC motors with Smartphone via bluetooth
 * 2019
 */
int motor1Pin1 = 3; // pin 2 on L293D IC
int motor1Pin2 = 4; // pin 7 on L293D IC
int enable1Pin = 6; // pin 1 on L293D IC
int motor2Pin1 = 8; // pin 10 on L293D IC
int motor2Pin2 = 9; // pin 15 on L293D IC
int enable2Pin = 11; // pin 9 on L293D IC
int state;
int flag=0;        //makes sure that the serial only prints once the state
int stateStop=0;
void setup() {
    // sets the pins as outputs:
    pinMode(motor1Pin1, OUTPUT);
    pinMode(motor1Pin2, OUTPUT);
    pinMode(enable1Pin, OUTPUT);
    pinMode(motor2Pin1, OUTPUT);
    pinMode(motor2Pin2, OUTPUT);
    pinMode(enable2Pin, OUTPUT);
    // sets enable1Pin and enable2Pin high so that motor can turn on:
    digitalWrite(enable1Pin, HIGH);
    digitalWrite(enable2Pin, HIGH);
    // initialize serial communication at 9600 bits per second:
    Serial.begin(9600);
}

void loop() {
    //if some date is sent, reads it and saves in state
    if(Serial.available() > 0){
      state = Serial.read();
      flag=0;
    }
    // if the state is '1' the DC motor will go forward
    if (state == '1') {
        digitalWrite(motor1Pin1, HIGH);
        digitalWrite(motor1Pin2, LOW);
        digitalWrite(motor2Pin1, LOW);
        digitalWrite(motor2Pin2, HIGH);
        if(flag == 0){
          Serial.println("Go Forward!");
          flag=1;
        }
    }

    // if the state is '2' the motor will turn left
    else if (state == '2') {
        digitalWrite(motor1Pin1, HIGH);
        digitalWrite(motor1Pin2, LOW);
        digitalWrite(motor2Pin1, LOW);
        digitalWrite(motor2Pin2, LOW);
        if(flag == 0){
          Serial.println("Turn LEFT");
          flag=1;
        }
        delay(1500);
        state=3;
        stateStop=1;
    }
    // if the state is '3' the motor will Stop
    else if (state == '3' || stateStop == 1) {
        digitalWrite(motor1Pin1, LOW);
        digitalWrite(motor1Pin2, LOW);
        digitalWrite(motor2Pin1, LOW);
        digitalWrite(motor2Pin2, LOW);
        if(flag == 0){
          Serial.println("STOP!");
          flag=1;
        }
        stateStop=0;
    }
    // if the state is '4' the motor will turn right
    else if (state == '4') {
        digitalWrite(motor1Pin1, LOW);
        digitalWrite(motor1Pin2, LOW);
        digitalWrite(motor2Pin1, LOW);
        digitalWrite(motor2Pin2, HIGH);
        if(flag == 0){
          Serial.println("Turn RIGHT");
          flag=1;
        }
        delay(1500);
        state=3;
        stateStop=1;
    }
    // if the state is '5' the motor will Reverse
    else if (state == '5') {
        digitalWrite(motor1Pin1, LOW);
        digitalWrite(motor1Pin2, HIGH);
        digitalWrite(motor2Pin1, HIGH);
        digitalWrite(motor2Pin2, LOW);
        if(flag == 0){
          Serial.println("Reverse!");
          flag=1;
        }
    }
    //For debugging purpose
    //Serial.println(state);
}