Rover 5 Project: Part 3

After these few days, I have finally adjusted the program to fit my AWD Rover 5.

Before:

After:

I modified the program by adding the 2 back motors. The new motors will move in sync with the motor in front of it.

// Rover 5 4WD Code
// Modified from 2WD Code

volatile int rotaryCount = 0;

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

// CH 1
#define DIRECTIONA 4
#define MOTORA 5

// CH 2
#define DIRECTIONB 7
#define MOTORB 6

// CH 3
#define DIRECTIONC 9
#define MOTORC 8

// CH 4
#define DIRECTIOND 11
#define MOTORD 10

#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);
  pinMode (MOTORC, OUTPUT);
  pinMode (DIRECTIONC, OUTPUT);
  pinMode (MOTORD, OUTPUT);
  pinMode (DIRECTIOND, OUTPUT);
}  // end of setup

byte phase;
unsigned long start;
int time_to_go;

void loop ()
{

  analogWrite (MOTORA, 200);
  analogWrite (MOTORB, 200);
  analogWrite (MOTORC, 200);
  analogWrite (MOTORD, 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);
      digitalWrite (DIRECTIONC, 1);
      digitalWrite (DIRECTIOND, 1);
      time_to_go = TIME_FORWARDS;
      break;
     
    case 1:
      // turn
      digitalWrite (DIRECTIONA, 1);
      digitalWrite (DIRECTIONB, 0);
      digitalWrite (DIRECTIONC, 1);
      digitalWrite (DIRECTIOND, 0);
      time_to_go = TIME_TURN;
      break;

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

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



I also had to slightly change the wiring. After connecting the wires for CH1 and CH2 as instructed on the website, I had to connect CH3 & CH4.

CH 3
    PWM > D8
    DIR > D9
CH 4
    PWM > D10
    DIR > D11  

Then I connected the channels of the motor controller to the chassis. The picture below shows the channels I assigned to each motor.