test.c

/*
  ELEC1100 Lab06

  To program the car turning left at split

*/

#define pinSTOP A6

#define pinLQ3 3              //pin D3
#define pinLQ2 4              //pin D4
#define pinLQ1 5              //pin D5
#define pinLQ0 6              //pin D6

#define pinRQ3 7              //pin D7
#define pinRQ2 8              //pin D8
#define pinRQ1 9              //pin D9
#define pinRQ0 10             //pin D10

#define pinLdir 11            //pin D11
#define pinRdir 12            //pin D12

int speed_ = 0;
boolean running_ = true;

// the setup function runs once when you press reset or power the board
void setup() {
  pinMode(pinSTOP, INPUT);
  pinMode(pinLQ3, OUTPUT);
  pinMode(pinLQ2, OUTPUT);
  pinMode(pinLQ1, OUTPUT);
  pinMode(pinLQ0, OUTPUT);

  pinMode(pinRQ3, OUTPUT);
  pinMode(pinRQ2, OUTPUT);
  pinMode(pinRQ1, OUTPUT);
  pinMode(pinRQ0, OUTPUT);

  pinMode(pinLdir, OUTPUT);
  pinMode(pinRdir, OUTPUT);

  // initialize output pins.
  digitalWrite(pinLQ3, HIGH);
  digitalWrite(pinLQ2, HIGH);
  digitalWrite(pinLQ1, HIGH);
  digitalWrite(pinLQ0, HIGH);
  digitalWrite(pinRQ3, HIGH);
  digitalWrite(pinRQ2, HIGH);
  digitalWrite(pinRQ1, HIGH);
  digitalWrite(pinRQ0, HIGH);
  digitalWrite(pinLdir, HIGH);        // HIGH: move forward
  digitalWrite(pinRdir, HIGH);        // LOW:  move backward
}

boolean intToBit(int n, int bit_) {
  return (n >> bit_) & 1;
}

// the loop function runs over and over again forever
void loop() {
  if (digitalRead(pinSTOP) == LOW) {
    running_ = false;
  }
  if (!running_) return;

  /*
  if (speed_ > 15) speed_ = 0;
  digitalWrite(pinLQ3, intToBit(speed_, 3));
  digitalWrite(pinLQ2, intToBit(speed_, 2));
  digitalWrite(pinLQ1, intToBit(speed_, 1));
  digitalWrite(pinLQ0, intToBit(speed_, 0));
  digitalWrite(pinRQ3, intToBit(speed_, 3));
  digitalWrite(pinRQ2, intToBit(speed_, 2));
  digitalWrite(pinRQ1, intToBit(speed_, 1));
  digitalWrite(pinRQ0, intToBit(speed_, 0));
  speed_ += 1;
  delay(1000);
  */
}