Example Code for Arduino-Motor Control

Hardware Preparation

• DFRduino UNO R3 (or similar) x 1
• USB Cable
• PPM Motor Driver Modules
• M-M/F-M/F-F Jumper wires

Software Preparation

• Arduino IDE

Sample Code

/*PPM output signal is a 50Hz PWM signal, so every control signal should be guaranteed to be 20ms 
     * The sum of delayMicroseconds in each control signal should be 20ms
     * The High level duration of every control signal determines the motor's speed, direction(forward, backward), and stop. 
     * 1500us high level duration: stop rotating 
     * Increment in high level duration from 1500us to 2000us: move backward and speed up 
     * Decrement in high level duration from 1500us to 1000us: move forward and speed up
     * delayMicroseconds():since 20ms will overflow, the value inside should perferably not exceed 16000. Delay it twice to achieve 20ms PWM cycle.
    */
    uint8_t motor1_pin=3;                       /*Set control pin for motor 1 */
    uint8_t motor2_pin=5;                       /*Set control pin for motor 2*/
    int num = 50;

    void motor_rotation(uint8_t pin,int t)      /*Motor rotate*/
    {
            digitalWrite(pin,HIGH);
            delayMicroseconds(t);
            digitalWrite(pin,LOW);
            delayMicroseconds(10000);
            delayMicroseconds(10000-t);
    }

    void all_motor_rotation(uint8_t pin0, uint8_t pin1, int t)  /*Two motor rotate at the same speed and direction */
    {
            digitalWrite(pin0,HIGH);
            digitalWrite(pin1,HIGH);
            delayMicroseconds(t);
            digitalWrite(pin0,LOW);
            digitalWrite(pin1,LOW);
            delayMicroseconds(10000);
            delayMicroseconds(10000-t);
    }

    void motor_forward_acc(uint8_t pin) {        /*Motor speeds up in forward movement*/
            for(int i = 0; i<10; i++) {
                    for(int j = 0; j<num; j++) {
                            motor_rotation( pin, 1500-i*50); /*Decrement in high level duration from 1500us to 1000us: move forward and speed up*/
                    }
            }
    }

    void motor_reversal_acc(uint8_t pin) {       /*Motor speeds up in backward movement*/
            for(int i = 0; i<10; i++) {
                    for(int j = 0; j<num; j++) {
                            motor_rotation( pin, 1500+i*50); /*Increment in high level duration from 1500us to 2000us: move backward and speed up*/
                    }
            }
    }

    void setup()
    {
            pinMode(motor1_pin,OUTPUT);
            pinMode(motor2_pin,OUTPUT);
    }
    void loop()
    {
            //motor_forward_acc(motor1_pin);                     /*Motor 1 speeds up in forward movement*/
            //motor_forward_acc(motor2_pin);                     /*Motor 2 speeds up in forward movement*/
            //motor_reversal_acc(motor1_pin);                    /*Motor 1 speeds up in backward movement*/
            //motor_reversal_acc(motor2_pin);                    /*Motor 2 speeds up in backward movement*/
            for(int i =0; i<num; i++) {                          /*Motor 1 rotates backward*/
                    motor_rotation( motor1_pin, 1800);               /*High level duration is 1800us, which is in 1500us-2000us, motor 1 rotates backward */
            }
            for(int i =0; i<num; i++) {                           /*Motor 1 stops rotating*/
                    motor_rotation(motor1_pin, 1500);                /*High level duration equals to 1500us, motor 1 stops rotating*/
            }
            for(int i =0; i<num; i++) {                          /*Motor 1 rotates forward*/
                    motor_rotation( motor1_pin, 1200);               /*High level duration is 1200us, which is in 1500us-1000us, motor 1 rotates forward*/
            }
            for(int i =0; i<num; i++) {                          /*Motor 1 stops rotating */
                    motor_rotation( motor1_pin, 1500);               /*High level duration equals to 1500us, motor 1 stops rotating*/
            }
            for(int i =0; i<num; i++) {                          /*Motor 2 rotates backward*/
                    motor_rotation( motor2_pin, 1800);               /*High level duration is 1800us, which is in 1500us-2000us, motor 2 rotates backward*/
            }
            for(int i =0; i<num; i++) {                          /*Motor 2 stops rotating*/
                    motor_rotation( motor2_pin, 1500);               /*High level duration equals to 1500us, motor 2 stops rotating*/
            }
            for(int i =0; i<num; i++) {                          /*Motor 2 rotates forward*/
                    motor_rotation( motor2_pin, 1200);               /*High level duration is 1200us, which is in 1500us-1000us, motor 2 rotates forward*/
            }

            for(int i =0; i<num; i++) {                          /*Motor 2 stops rotating*/
                    motor_rotation( motor2_pin, 1500);               /*High level duration equals to 1500us, motor 2 stops rotating*/
            }

            for(int i =0; i<num; i++) {                          /*Motor 1 and 2 rotate backward*/
                    all_motor_rotation(motor1_pin, motor2_pin, 1800);/*High level duration is 1800us, which is in 1500us-2000us, motor 1 and 2 rotate backward*/
            }

            for(int i =0; i<num; i++) {                          /*Motor 1 and 2 stop rotating*/
                    all_motor_rotation(motor1_pin, motor2_pin, 1500);/*High level duration equals to 1500us, motor 1 and 2 stop rotating*/
            }

            for(int i =0; i<num; i++) {                          /*Motor 1 and 2 rotate forward*/
                    all_motor_rotation(motor1_pin, motor2_pin, 1200);/*High level duration is 1200us, which is in 1500us-1000us, motor 1 and 2 rotate forward*/
            }

            for(int i =0; i<num; i++) {                          /*Motor 1 and 2 stop rotating*/
                    all_motor_rotation(motor1_pin, motor2_pin, 1500);/*High level duration equals to 1500us, motor 1 and 2 stop rotating*/
            }
    }