LUG @ UIC

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/*

SoftwareSerial to ttyAMA0

*/

#include <SoftwareSerial.h>

#define PULSE_A 3 #define PULSE_B 4 #define DIR_A 5 #define DIR_B 6

SoftwareSerial mySerial(8, 9); RX, TX char serialIn; int movementTime = 1000; int basicPower = 100; void setup() { serial communication

Serial.begin(4800);
while (!Serial) {
  ;
}
Serial.println("Started");
mySerial.begin(9600);

//set the motor pins
pinMode( PULSE_A, OUTPUT);
pinMode( PULSE_B, OUTPUT);
pinMode( DIR_A, OUTPUT);
pinMode( DIR_B, OUTPUT);

analogWrite( PULSE_A, 100);
analogWrite( PULSE_B, 100);

}

void loop() {

if (mySerial.available()){
  serialIn = mySerial.read();
  Serial.print( serialIn);
  if( serialIn == '+' ){
    goForward( movementTime, basicPower);
  }
  else if( serialIn == '-'){
    goReverse( movementTime, basicPower);
  }
  else if( serialIn == '>'){
   turnRight();
  }
  else if( serialIn == '<'){
    turnLeft();
  } 
}
if (Serial.available())
  mySerial.write(Serial.read());

}

void goForward(int time, int power){

digitalWrite( PULSE_A, HIGH);
digitalWrite( PULSE_B, HIGH);
//delay(time);
analogWrite( PULSE_A, power);
analogWrite( PULSE_B, power);
delay(time);
digitalWrite( PULSE_A, HIGH);
digitalWrite( PULSE_B, HIGH);
//delay( time);
digitalWrite( PULSE_A, LOW);
digitalWrite( PULSE_B, LOW);
analogWrite( PULSE_A, 0);
analogWrite( PULSE_B, 0);
digitalWrite( PULSE_A, LOW);
digitalWrite( PULSE_B, LOW);

}

void goReverse( int time, int power){

}

void turnLeft(){

}

void turnRight(){

}