28/2/2016 DownloadControlyourmotorswithL293DandArduinoAllaspdf

ControlyourmotorswithL293DandArduinoAll

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Afterlongresearchandtrialanderror,Ihavecameuptoanewwalkthroughregardingthisnicechip,theL293D.

Eachprojectisoneprojectandeachonehasitsownuniquepowerconfigurations,soyoumustbeawareofthebestbattery
choiceandhowtodistributevoltagethroughyourrobot.

Istronglyadviceyoutoreadthefollowingarticles:

PickingBatteriesforyourRobot
Onceyou'vedecidedonbatteries,howdoyouregulatethevoltage

************************************************

L293Dgivesyouthepossibilitytocontroltwomotorsinbothdirectionsdatasheet
Step 1: Basic implementation

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28/2/2016 DownloadControlyourmotorswithL293DandArduinoAllaspdf

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Thisisthemostbasicimplementationofthechip.

Asyoucansee,a5VVoltageRegulatorisbetweenthebatteryandpins1,9,16.

Pin8getspowerbeforetheVReg,ifyourmotorneedsforexample6Vyoushouldput6Vdirectlyinthispin,alltheotherpins
shouldnotgetmorethan5V.

Thiswillworkwithnoproblematall,butifyouwanttodotherightimplementationtakealookatthenextexample:
Step 2: Advanced implementation

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28/2/2016 DownloadControlyourmotorswithL293DandArduinoAllaspdf

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ThisisthecorrectImplementation(withthecapacitors),andnotethatpin8isfeededbyunregulatedvoltage.Thismeansthat
ifyourmotorsneedmorethan5V,youshouldpowerthispinwiththatamountofvoltage,andtherestofthecircuitwith5V.

Step 3: Arduino code

//UsethiscodetotestyourmotorwiththeArduinoboard:

//ifyouneedPWM,justusethePWMoutputsontheArduino
//andinsteadofdigitalWrite,youshouldusetheanalogWritecommand

//Motors

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28/2/2016 DownloadControlyourmotorswithL293DandArduinoAllaspdf

intmotor_left[]={2,3}
intmotor_right[]={7,8}

//Setup
voidsetup(){
Serial.begin(9600)

//Setupmotors
inti
for(i=0i<2i++){
pinMode(motor_left[i],OUTPUT)
pinMode(motor_right[i],OUTPUT)
}

//Loop
voidloop(){

drive_forward()
delay(1000)
motor_stop()
Serial.println("1")

drive_backward()
delay(1000)
motor_stop()
Serial.println("2")

turn_left()
delay(1000)
motor_stop()
Serial.println("3")

turn_right()
delay(1000)
motor_stop()
Serial.println("4")

motor_stop()
delay(1000)
motor_stop()
Serial.println("5")
}

//Drive

voidmotor_stop(){
digitalWrite(motor_left[0],LOW)
digitalWrite(motor_left[1],LOW)

digitalWrite(motor_right[0],LOW)
digitalWrite(motor_right[1],LOW)
delay(25)
}

voiddrive_forward(){
digitalWrite(motor_left[0],HIGH)
digitalWrite(motor_left[1],LOW)

digitalWrite(motor_right[0],HIGH)
digitalWrite(motor_right[1],LOW)
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28/2/2016 DownloadControlyourmotorswithL293DandArduinoAllaspdf

voiddrive_backward(){
digitalWrite(motor_left[0],LOW)
digitalWrite(motor_left[1],HIGH)

digitalWrite(motor_right[0],LOW)
digitalWrite(motor_right[1],HIGH)
}

voidturn_left(){
digitalWrite(motor_left[0],LOW)
digitalWrite(motor_left[1],HIGH)

digitalWrite(motor_right[0],HIGH)
digitalWrite(motor_right[1],LOW)
}

voidturn_right(){
digitalWrite(motor_left[0],HIGH)
digitalWrite(motor_left[1],LOW)

digitalWrite(motor_right[0],LOW)
digitalWrite(motor_right[1],HIGH)
}

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