// 2017/6/20
// Faya-Nugget 範例程式 (GearedMotor_1.ino)
// 單元: 模組介紹-faya減速馬達模組
// 網址: http://fayalab.blogspot.com/2017/06/fayagearedmotor.html
// 目標: (1) 自走車自動前進3秒鐘
//       (2) 停頓1秒
//       (3) 自走車自動後退3秒鐘回到原來位置

// 接線: Arduino ==> faya模組
//          D11    ==>   SIG (減速馬達)
//          D12    ==>   DIR (減速馬達)
//           D6    ==>   SIG (減速馬達)
//           D7    ==>   DIR (減速馬達) 

#define Wheel_R_DIR 12
#define Wheel_R_SIG 11
#define Wheel_L_DIR 7
#define Wheel_L_SIG 6

void setup() {
pinMode(Wheel_R_DIR,OUTPUT);   //右輪方向腳位
pinMode(Wheel_R_SIG,OUTPUT);   //右輪速度腳位
pinMode(Wheel_L_DIR, OUTPUT);  //左輪方向腳位
pinMode(Wheel_L_SIG, OUTPUT);  //左輪速度腳位
StopMove();    //停止走動
}

void loop()
{
Forward();
delay(3000);
StopMove();
delay(1000);
Backward();
delay(3000);
StopMove();
while(1);
}

void Forward() //前進
{
  digitalWrite(Wheel_R_DIR,LOW);
  analogWrite(Wheel_R_SIG,200);
  digitalWrite(Wheel_L_DIR,HIGH);
  analogWrite(Wheel_L_SIG,200); 
}

void Backward() //後退
{
  digitalWrite(Wheel_R_DIR,HIGH);
  analogWrite(Wheel_R_SIG,200);
  digitalWrite(Wheel_L_DIR,LOW);
  analogWrite(Wheel_L_SIG,200);
}

void StopMove() //副程式 - 停止走動
{
  digitalWrite(Wheel_R_DIR,LOW);
  analogWrite(Wheel_R_SIG,0);
  digitalWrite(Wheel_L_DIR,LOW);
  analogWrite(Wheel_L_SIG,0);
}