Basic motor control with the Bammer Motor driver

bammer.ino

/*
 * This program is used to control a Bammer motor driver. This code may also
 * be compatable with other motor drivers with direction and enable pins
 */

 // define the pins that are connected to the Bammer
 const int motor1_direction = 2;
 const int motor1_pwm = 9;
 const int motor1_sleep = 4;

/* this function sets the speed and direction of the motor
 *  Param 1: Direction (1 = FWD, 2 = RVS)
 *  Param 2: Speed (0 - 255, where 255 is max)
 */
void setMotor(char dir, char pwm){
  if (dir) digitalWrite(motor1_direction, HIGH);
  else digitalWrite(motor1_direction, LOW);
  analogWrite(motor1_pwm, pwm);
}

void setup(){
  pinMode(motor1_direction, OUTPUT);
  pinMode(motor1_sleep, OUTPUT);
  digitalWrite(motor1_sleep, HIGH);
 }

void loop(){

  //slowly accelerate the motor until it is at full speed
  for (int i = 0; i < 255; i++){
    setMotor(1, i);
    delay(10);
  }

  //decelerate the motor quickly
  for (int i = 255; i > 0; i--){
    setMotor(1, i);
    delay(2);
  }

  //spin the motor in the opposite direction at a low speed
  setMotor(0, 40);

  //wait for a while
  delay(2000);
  
}