/*

* This is the Arduino code BTS7960 DC motor Driver

Using this code you can control more than 1 motor to rotate in both direction
Clockwise(CW)
and Counter-clockwise(CCW)

Written by Ahmad Shamshiri for Robojax.com on

on July 16, 2020 in Ajax, Ontario, Canada

Watch video instruction for this code: https://youtu.be/PUL5DZ9TA2o

BTS7960B
If you found this tutorial helpful, please support me so I can continue creating
content like this. You can support me on Patreon http://robojax.com/L/?id=63

or make donation using PayPal http://robojax.com/L/?id=64

* This code has been download from Robojax.com

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.

*/

// pins for motor 1

#define RPWM_1 3 // define pin 3 for RPWM pin (output)
#define R_EN_1 4 // define pin 2 for R_EN pin (input)
#define R_IS_1 5 // define pin 5 for R_IS pin (output)

#define LPWM_1 6 // define pin 6 for LPWM pin (output)

#define L_EN_1 7 // define pin 7 for L_EN pin (input)
#define L_IS_1 8 // define pin 8 for L_IS pin (output)
// motor 1 pins end here

// pins for motor 2

#define RPWM_2 9 // define pin 9 for RPWM pin (output)
#define R_EN_2 10 // define pin 10 for R_EN pin (input)
#define R_IS_2 12 // define pin 12 for R_IS pin (output)

#define LPWM_2 11 // define pin 11 for LPWM pin (output)

#define L_EN_2 A0 // define pin 7 for L_EN pin (input)
#define L_IS_2 A1 // define pin 8 for L_IS pin (output)
// motor 2 pins end here

#define CW 1 //
#define CCW 0 //
#define debug 1 //
#include <RobojaxBTS7960.h>
RobojaxBTS7960 motor1(R_EN_1,RPWM_1,R_IS_1, L_EN_1,LPWM_1,L_IS_1,debug);//define
motor 1 object
RobojaxBTS7960 motor2(R_EN_2,RPWM_2,R_IS_2, L_EN_2,LPWM_2,L_IS_2,debug);//define
motor 2 object and the same way for other motors

void setup() {
// BTS7960 Motor Control Code by Robojax.com 20190622
Serial.begin(9600);// setup Serial Monitor to display information

motor1.begin();
motor2.begin();

// BTS7960 Motor Control Code by Robojax.com 20190622

}

void loop() {
// BTS7960 Motor Control Code by Robojax.com 20190622
motor1.rotate(100,CW);// run motor 1 with 100% speed in CW direction
delay(5000);//run for 5 seconds
motor1.stop();// stop the motor 1
delay(3000);// stop for 3 seconds
motor1.rotate(100,CCW);// run motor 1 at 100% speed in CCW direction
delay(5000);// run for 5 seconds
motor1.stop();// stop the motor 1
delay(3000); // stop for 3 seconds

motor2.rotate(100,CW);// run motor 2 with 100% speed in CW direction

delay(5000);//run for 5 seconds
motor2.stop();// stop the motor 2
delay(3000);// stop for 3 seconds
motor2.rotate(100,CCW);// run motor 2 at 100% speed in CCW direction
delay(5000);// run for 5 seconds
motor2.stop();// stop the motor 2
delay(3000); // stop for 3 seconds

// slowly speed up the motor 1 from 0 to 100% speed

for(int i=0; i<=100; i++){
motor1.rotate(i,CCW);
delay(50);
}

// slow down the motor 2 from 100% to 0 with

for(int i=100; i>0; i--){
motor2.rotate(i,CCW);
delay(50);
}
motor2.stop();// stop motor 2
delay(3000); // stop for 3 seconds
// BTS7960 more than 1 Motor Control Code by Robojax.com 20190622
}// loop ends