Example Code for DFRduino-Motor Control

Hardware Preparation

Software Preparation

• Development Tool: Arduino IDE (version 1.8.x or higher recommended)
• Download Link: Arduino IDE Download
• Installation Guide: Follow the official setup instructions for your operating system on the download page.
• Library Requirements: No external libraries are needed for this sample code.

Wiring Diagram

Other Preparation Work

1. Connect DC motors to the motor shield’s terminals: Motor 1 to M1+/M1-, Motor 2 to M2+/M2-.
2. Upload the sample code to your DFRduino board using the Arduino IDE.
3. Open the Arduino IDE Serial Monitor (set baud rate to 9600) to send control commands.

Sample Code

//This motor shield use Pin 6,5,7,4 to control the motor
// Simply connect your motors to M1+,M1-,M2+,M2-
// Upload the code to DFRduino
// Through serial monitor, type 'a','s', 'w','d','x' to control the motor
// www.dfrobot.com
// Last modified on 24/12/2009

int EN1 = 6;
int EN2 = 5;  //Roboduino Motor shield uses Pin 9
int IN1 = 7;
int IN2 = 4; //Latest version use pin 4 instead of pin 8

void Motor1(int pwm, boolean reverse) {
  analogWrite(EN1, pwm); //set pwm control, 0 for stop, and 255 for maximum speed
  if (reverse)  {
    digitalWrite(IN1, HIGH);
  }
  else  {
    digitalWrite(IN1, LOW);
  }
}

void Motor2(int pwm, boolean reverse) {
  analogWrite(EN2, pwm);
  if (reverse)  {
    digitalWrite(IN2, HIGH);
  }
  else  {
    digitalWrite(IN2, LOW);
  }
}

void setup() {
  int i;
  // for(i=6;i<=9;i++) //For Roboduino Motor Shield
  // pinMode(i, OUTPUT);  //set pin 6,7,8,9 to output mode

  for (i = 4; i <= 7; i++) //For DFRduino Motor Shield
    pinMode(i, OUTPUT);  //set pin 4,5,6,7 to output mode
  Serial.begin(9600);
}

void loop() {
  int x, delay_en;
  char val;
  while (1)  {
    val = Serial.read();
    if (val != -1)    {
      switch (val)      {
        case 'w'://Move ahead
          Motor1(100, true); //You can change the speed, such as Motor(50,true)
          Motor2(100, true);
          break;
        case 'x'://move back
          Motor1(100, false);
          Motor2(100, false);
          break;
        case 'a'://turn left
          Motor1(100, false);
          Motor2(100, true);
          break;
        case 'd'://turn right
          Motor1(100, true);
          Motor2(100, false);
          break;
        case 's'://stop
          Motor1(0, false);
          Motor2(0, false);
          break;
      }
    }
  }
}

The motor shield is powered directly from Arduino. It is strongly advised that use external power supply (on Arduino) to power the Arduino instead of the USB power supply.