4WD Robotic Car with 15 Kilo Load Test

Finally I put together my 4WD Robotic car. Thanks to Hercules Motor controller it’s doing what I am expecting of it. My self challenge was to make it carry 5 gallon water bottle. Few attempts failed as the motor was starting and stoping fast and the bottle was jumping out of the car. So I had to increase and reduce the speed slowly.

Parts used in this test

UartSBeee Connected to Motor Driver Hercules

Motor Driver Hercules Connected to Programmer

Source code used for this experiment 😉

// pin ctrl
#define PINCS           6           // all mos cs
#define PINM1F          4
#define PINM1R          5
#define PINM2F          7
#define PINM2R          8
#define PINPWMA         9           // PWM channel A (motor A speed)
#define PINPWMB         10          // PWM channel B (motor B speed)

int motorSpeed=0;

void setup()
{
    Serial.begin(19200);
    Serial.println("HERCULES 4WD TEST");
    pinMode(PINCS, OUTPUT);
    pinMode(PINM1F, OUTPUT);
    pinMode(PINM1R, OUTPUT);
    pinMode(PINM2F, OUTPUT);
    pinMode(PINM2R, OUTPUT);
    motorStop(100);
}

void loop()
{
  for (int i=0;i<=255;i=i+5){
    motorSetSpeed(i);
    motorForward(20); 
  }
  motorSetSpeed(255);
  motorForward(1000); 
  for (int i=255;i>=0;i=i-5){
    motorSetSpeed(i);
    motorForward(20); 
  }
  motorStop(2000);
  for (int i=0;i<=255;i=i+5){
    motorSetSpeed(i);
    motorReverse(20); 
  }
  motorSetSpeed(255);
  motorReverse(1000);
  for (int i=255;i>=0;i=i-5){
    motorSetSpeed(i);
    motorReverse(20); 
  }
  motorStop(2000); 
}

void motorSetSpeed(int power)
{
  motorSpeed=power;
  analogWrite(PINPWMA,motorSpeed);
  analogWrite(PINPWMB,motorSpeed);
}

void motorStop(int duration)
{
  digitalWrite(PINCS,LOW);
  digitalWrite(PINM1F,LOW);
  digitalWrite(PINM1R,LOW);
  digitalWrite(PINM2F,LOW);
  digitalWrite(PINM2R,LOW);
  delay(duration);
}

void motorForward(int duration)
{
   digitalWrite(PINM1F,LOW);
   digitalWrite(PINM1R,HIGH);
   digitalWrite(PINM2F,LOW);
   digitalWrite(PINM2R,HIGH);
   digitalWrite(PINCS,HIGH);
   delay(duration);
}

void motorReverse(int duration)
{
   digitalWrite(PINM1F,HIGH);
   digitalWrite(PINM1R,LOW);
   digitalWrite(PINM2F,HIGH);
   digitalWrite(PINM2R,LOW);
   digitalWrite(PINCS,HIGH);
   delay(duration);
}

Watch out for next update with remote control 😀

By Imthiaz