/**
* Bruno Santos, 2013
* feiticeir0@whatgeek.com.pt
* Small code to test DC motors - 2x with a L298 Dual H-Bridge Motor Driver
* Free to share
**/

//Testing the DC Motors
//Define Pins
//Motor A
int enableA = 10;
int pinA1 = 2;
int pinA2 = 3;

//Motor B
int enableB = 9;
int pinB1 = 4;
int pinB2 = 5;

//define time for run
// in milliseconds
int running = 10000; //10 secons

boolean play;

void setup() {
Serial.begin (9600);
//configure pin modes
pinMode (enableA, OUTPUT);
pinMode (pinA1, OUTPUT);
pinMode (pinA2, OUTPUT);

pinMode (enableB, OUTPUT);
pinMode (pinB1, OUTPUT);
pinMode (pinB2, OUTPUT);

play = true;

}

//Defining functions so it's more easy
//motor functions
void motorAforward() {
digitalWrite (pinA1, HIGH);
digitalWrite (pinA2, LOW);
}
void motorBforward() {
digitalWrite (pinB1, LOW);
digitalWrite (pinB2, HIGH);
}
void motorAbackward() {
digitalWrite (pinA1, LOW);
digitalWrite (pinA2, HIGH);
}
void motorBbackward() {
digitalWrite (pinB1, HIGH);
digitalWrite (pinB2, LOW);
}
void motorAstop() {
digitalWrite (pinA1, HIGH);
digitalWrite (pinA2, HIGH);
}
void motorBstop() {
digitalWrite (pinB1, HIGH);
digitalWrite (pinB2, HIGH);
}
void motorAcoast() {
digitalWrite (pinA1, LOW);
digitalWrite (pinA2, LOW);
}
void motorBcoast() {
digitalWrite (pinB1, LOW);
digitalWrite (pinB2, LOW);
}
void motorAon() {
digitalWrite (enableA, HIGH);
}
void motorBon() {
digitalWrite (enableB, HIGH);
}
void motorAoff() {
digitalWrite (enableA, LOW);
}
void motorBoff() {
digitalWrite (enableB, LOW);
}
// Movement functions
void forward (int duration) {
motorAforward();
motorBforward();
delay (duration);
}
void backward (int duration) {
motorAbackward();
motorBbackward();
delay (duration);
}
void left (int duration) {
motorAbackward();
motorBforward();
delay (duration);
}
void right (int duration) {
motorAforward();
motorBbackward();
delay (duration);
}
void coast (int duration) {
motorAcoast();
motorBcoast();
delay (duration);
}
void breakRobot (int duration) {
motorAstop();
motorBstop();
delay (duration);
}
void disableMotors() {
motorAoff();
motorBoff();
}
void enableMotors() {
motorAon();
motorBon();
}

void loop() {
enableMotors();

while (play) {
//Forward for 1,5s
Serial.println ("forward...");
forward (1500);
//turn right
Serial.println ("right...");
right (500);
//Forward for 1,5s
Serial.println ("forward...");
forward (1500);
//turn left
Serial.println ("left...");
left (1000);

//Forward for 1,5s
Serial.println ("forward...");
forward (1500);
if (millis() > running) {
play = false;
Serial.println ("Falsing");
}
};

//disable motors
disableMotors();
}