Ponte H

Movimentando Cooler12 V  com ponte H- Ardumoto- Motor Driver Shield

Código Utilizado 

#define CW  0
#define CCW 1

// Motor definitions to make life easier:
#define MOTOR_A 0
#define MOTOR_B 1

// Pin Assignments //
// Don't change these! These pins are statically defined by shield layout
const byte PWMA = 3;  // PWM control (speed) for motor A
const byte PWMB = 11; // PWM control (speed) for motor B
const byte DIRA = 12; // Direction control for motor A
const byte DIRB = 13; // Direction control for motor B

void setup()
{
  setupArdumoto(); // Set all pins as outputs
}

void loop()
{
  // Drive motor A (and only motor A) at various speeds, then stop.
  driveArdumoto(MOTOR_A, CCW, 255); // Set motor A to CCW at max
  delay(1000);  // Motor A will spin as set for 1 second
  driveArdumoto(MOTOR_A, CW, 127);  // Set motor A to CW at half
  delay(1000);  // Motor A will keep trucking for 1 second
  stopArdumoto(MOTOR_A);  // STOP motor A

  // Drive motor B (and only motor B) at various speeds, then stop.
  driveArdumoto(MOTOR_B, CCW, 255); // Set motor B to CCW at max
  delay(1000);  // Motor B will spin as set for 1 second
  driveArdumoto(MOTOR_B, CW, 127);  // Set motor B to CW at half
  delay(1000);  // Motor B will keep trucking for 1 second
  stopArdumoto(MOTOR_B);  // STOP motor B

  // Now spin both!
  driveArdumoto(MOTOR_A, CW, 255);  // Motor A at max speed.
  driveArdumoto(MOTOR_B, CW, 255);  // Motor B at max speed.
  delay(1000);  // Drive forward for a second
  // Now go backwards at half that speed:
  driveArdumoto(MOTOR_A, CCW, 127);  // Motor A at max speed.
  driveArdumoto(MOTOR_B, CCW, 127);  // Motor B at max speed.
}

// driveArdumoto drives 'motor' in 'dir' direction at 'spd' speed
void driveArdumoto(byte motor, byte dir, byte spd)
{
  if (motor == MOTOR_A)
  {
    digitalWrite(DIRA, dir);
    analogWrite(PWMA, spd);
  }
  else if (motor == MOTOR_B)
  {
    digitalWrite(DIRB, dir);
    analogWrite(PWMB, spd);
  } 
}

// stopArdumoto makes a motor stop
void stopArdumoto(byte motor)
{
  driveArdumoto(motor, 0, 0);
}

// setupArdumoto initialize all pins
void setupArdumoto()
{
  // All pins should be setup as outputs:
  pinMode(PWMA, OUTPUT);
  pinMode(PWMB, OUTPUT);
  pinMode(DIRA, OUTPUT);
  pinMode(DIRB, OUTPUT);

  // Initialize all pins as low:
  digitalWrite(PWMA, LOW);
  digitalWrite(PWMB, LOW);
  digitalWrite(DIRA, LOW);
  digitalWrite(DIRB, LOW);
}

Foi usado o seguinte site como referencia: https://www.sparkfun.com/products/9815