/*==========================================================================
// Author : Handson Technology
// Project : BTD7960 Motor Control Board driven by Arduino.
// Description : Geschwindigkeit und Richtung werden durch ein angeschlossenes Potentiometer gesteuert
// Poti an Plus und Minus, mittelabrif auf A0
// Source-Code : BTS7960.ino
// Program: Steuerung fuer DC Motor mit BTS7960 H-Bridge Treiber.
//==========================================================================
// Connection to the BTS7960 board:
// BTS7960 Pin 1 (RPWM) to Arduino pin 11(PWM)
// BTS7960 Pin 2 (LPWM) to Arduino pin 12(PWM)
// BTS7960 Pin 3 (R_EN), 4 (L_EN), 7 (VCC) to Arduino 5V pin
// BTS7960 Pin 8 (GND) to Arduino GND
// BTS7960 Pin 5 (R_IS) and 6 (L_IS) not connected
*/
#include <LiquidCrystal_I2C.h> // LCD Display
LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
int SENSOR_PIN = A0; // center pin of the potentiometer
int RPWM_Output = 11; // Arduino PWM output pin 11 connect to IBT-2 pin 1 (RPWM)
int LPWM_Output = 12; // Arduino PWM output pin 12 connect to IBT-2 pin 2 (LPWM)
void setup()
{
lcd.begin(20, 4);
lcd.backlight();
lcd.clear();
// ----------PWM Tackt fuer Pin 11&12 auf 3900Hz geaendert---------------
TCCR1B = TCCR1B & 0b11111000 | 0x02;
pinMode(RPWM_Output, OUTPUT);
pinMode(LPWM_Output, OUTPUT);
}
void loop()
{
int sensorValue = analogRead(SENSOR_PIN);
// sensor value is in the range 0 to 1023
// the lower half of it we use for reverse rotation the upper half for forward rotation
if (sensorValue < 512)
{
// reverse rotation
int reversePWM = -(sensorValue - 511) / 2;
analogWrite(LPWM_Output, 0);
analogWrite(RPWM_Output, reversePWM);
lcd.setCursor (0, 1);
lcd.print (F("PWM Rueck = "));
lcd.setCursor (13, 1);
lcd.print(" ");
lcd.setCursor (13, 1);
lcd.print(reversePWM);
}
else
{
// forward rotation
int forwardPWM = (sensorValue - 512) / 2;
analogWrite(LPWM_Output, forwardPWM);
analogWrite(RPWM_Output, 0);
lcd.setCursor (0, 2);
lcd.print (F("PWM Vor = "));
lcd.setCursor (13, 2);
lcd.print(" ");
lcd.setCursor (13, 2);
lcd.print(forwardPWM);
}
}