Rover 5 Project: Part 2

I was a little busy and didn't get the chance to work on it yesterday but I did today. Now that I am done connecting the Arduino to the motor driver board, I figured I should mount it to the chassis and connect channels 1 & 2 to the front like it says in the instructions. I was wondering why you don't connect channel 3 & 4 so you can move all the motors. Since I only needed 2 wires from the chassis, there was a bunch of tangled wires I didn't need, so I taped them together. Then I took a piece of cardboard and taped the chassis so I could mount the chips.

Cardboard is used to cover unnecessary wires and for mounting the chips

This is the underside. I just used simple masking tape ;D

I then mounted the Arduino and the motor driver board. I had to tape the batteries that power the motor driver board to the side. I hid the other set of batteries beneath the cardboard because I had no room for it.
 

On the left is the Motor Driver Board (red) and on the right is the Arduino Uno (blue). You can see that I taped the batteries to the side. You can also see the DC connector that is coming out from inside the rover.

Now that I'm are done building it, I need to insert the program that is provided on the forums:

// Dagu 5 Chassis example.
// Author: Nick Gammon
// Date:   11th December 2011

volatile int rotaryCount = 0;

#define PINA 8
#define PINB 9
#define INTERRUPT 0  // that is, pin 2

#define DIRECTIONA 4
#define MOTORA 5

#define DIRECTIONB 7
#define MOTORB 6

#define TIME_FORWARDS 10000
#define TIME_BACKWARDS 10000
#define TIME_TURN 1200

// Interrupt Service Routine for a change to encoder pin A
void isr ()
{
  boolean up;

  if (digitalRead (PINA))
    up = digitalRead (PINB);
  else
    up = !digitalRead (PINB);

  if (up)
    rotaryCount++;
  else
    rotaryCount--;
}  // end of isr


void setup ()
{
  attachInterrupt (INTERRUPT, isr, CHANGE);   // interrupt 0 is pin 2, interrupt 1 is pin 3
  pinMode (MOTORA, OUTPUT);
  pinMode (DIRECTIONA, OUTPUT);
  pinMode (MOTORB, OUTPUT);
  pinMode (DIRECTIONB, OUTPUT);

}  // end of setup

byte phase;
unsigned long start;
int time_to_go;

void loop ()
{

  analogWrite (MOTORA, 200);
  analogWrite (MOTORB, 200);
  start = millis ();
  
  // check current drain
  while (millis () - start < time_to_go)
    {
    if (analogRead (0) > 325)  // > 1.46 amps
      break;    
    }
    
  
  switch (phase++ & 3)
    {
    case 0: 
      digitalWrite (DIRECTIONA, 1); 
      digitalWrite (DIRECTIONB, 1); 
      time_to_go = TIME_FORWARDS;
      break;
      
    case 1: 
      // turn
      digitalWrite (DIRECTIONA, 1); 
      digitalWrite (DIRECTIONB, 0); 
      time_to_go = TIME_TURN;
      break;

    case 2: 
      digitalWrite (DIRECTIONA, 0); 
      digitalWrite (DIRECTIONB, 0); 
      time_to_go = TIME_BACKWARDS;
      break;

    case 3: 
      digitalWrite (DIRECTIONA, 0); 
      digitalWrite (DIRECTIONB, 1); 
      time_to_go = TIME_TURN;
      break;
      
    } // end of switch
    
  analogWrite (MOTORA, 0);
  analogWrite (MOTORB, 0);
  delay (500);
  
}  // end of loop

This is what happens when I used pluged the DC connector to the Arduino:

 

As you saw, my rover didn't work correctly. I believe it is because I didn't program and attach the other 2 motors. My Rover 5 robot chassis has 4 motors. After looking at the link this guy bought his Rover 5 at, I realized his was a 2WD.