H-Bridge

#define switchPin = 2    // switch input

#define motor1Pin = 12    // H-bridge leg 1 (pin 2, 1A)

#define motor2Pin = 11    // H-bridge leg 2 (pin 7, 2A)

#define enablePin = 9    // H-bridge enable pin

#define ledPin = 13      // LED

void setup()

{

  // set the switch as an input:

  pinMode(switchPin, INPUT);

  // set all the other pins you're using as outputs:

  pinMode(motor1Pin, OUTPUT);

  pinMode(motor2Pin, OUTPUT);

  pinMode(enablePin, OUTPUT);

  pinMode(ledPin, OUTPUT);

  // set enablePin high so that motor can turn on:

  digitalWrite(enablePin, HIGH);

}

void loop()

{

  digitalWrite(motor1Pin, LOW);   // set leg 1 of the H-bridge low

  digitalWrite(motor2Pin, HIGH);  // set leg 2 of the H-bridge high

  delay(2000);

  digitalWrite(motor1Pin, HIGH);  // set leg 1 of the H-bridge high

  digitalWrite(motor2Pin, LOW);   // set leg 2 of the H-bridge low

  delay(2000);

}

/*----------------------------------------------------------------

Use PWM to drive a variable speed dc motor using an analog voltage

    to define the speed.

    Uses the Pololu TB6612FNG dual motor driver.

    Note: This is a first pass at coding for this chip:

       a) Can probably hardwire STBY high

       b) Could save a line since AIN1 and AIN2 are complements

          (Use a gate to invert)

 Derek Rowell  04/05/11      

---------------------------------------------------------------*/

#define stbyPin 3     // STBY

#define ain1Pin 4     // AIN1

#define ain2Pin 5     // AIN2

#define pwmaPin 6     // PWMA

#define potPin 0     // Pot connected to analog in A0

int Speed   = 0;

void setup()

{

  pinMode(stbyPin, OUTPUT);   

  pinMode(ain1Pin, OUTPUT);  

  pinMode(ain2Pin, OUTPUT);

  pinMode(pwmaPin, OUTPUT);

  digitalWrite(stbyPin, HIGH); 

  digitalWrite(ain1Pin, LOW); 

  digitalWrite(ain2Pin, LOW); 

}

void loop()

{  Speed = map(analogRead(potPin), 0, 1023, -255, 255);

   if (Speed > 0)

   {  digitalWrite(ain1Pin, LOW);

      digitalWrite(ain2Pin, HIGH);

      analogWrite(pwmaPin, Speed);

   }

   else

   {  digitalWrite(ain1Pin, HIGH);

      digitalWrite(ain2Pin, LOW);

      analogWrite(pwmaPin, abs(Speed));

   }

   delay(50);

}