From 8023e0d27ed6db406248c46f1cc87becf34dc4c8 Mon Sep 17 00:00:00 2001
From: mhby1g21 <mhby1g21@soton.ac.uk>
Date: Wed, 26 Mar 2025 16:39:43 +0000
Subject: [PATCH] fixed directions
---
wifi-integrated.ino | 46 ++++++++++++++++++++++-----------------------
1 file changed, 22 insertions(+), 24 deletions(-)
diff --git a/wifi-integrated.ino b/wifi-integrated.ino
index 5de09a4..e1826a1 100644
--- a/wifi-integrated.ino
+++ b/wifi-integrated.ino
@@ -186,10 +186,10 @@ void loop() {
// Move Forward - Using the exact structure from Medical_V2.ino
void moveForward() {
// Set direction pins first
- digitalWrite(IN2, HIGH);
- digitalWrite(IN1, LOW);
- digitalWrite(IN4, HIGH);
- digitalWrite(IN3, LOW);
+ digitalWrite(IN2, LOW);
+ digitalWrite(IN1, HIGH);
+ digitalWrite(IN4, LOW);
+ digitalWrite(IN3, HIGH);
Direction = 1;
// Then apply IMU control if available
@@ -205,10 +205,10 @@ void moveForward() {
// Move Backwards - Using the exact structure from Medical_V2.ino
void moveBackward() {
// Set direction pins first
- digitalWrite(IN2, LOW);
- digitalWrite(IN1, HIGH);
- digitalWrite(IN4, LOW);
- digitalWrite(IN3, HIGH);
+ digitalWrite(IN2, HIGH);
+ digitalWrite(IN1, LOW);
+ digitalWrite(IN4, HIGH);
+ digitalWrite(IN3, LOW);
Direction = -1;
// Then apply IMU control if available
@@ -217,36 +217,34 @@ void moveBackward() {
} else {
// Without IMU, just use basic speed control
analogWrite(ENA, SPEED);
- analogWrite(ENB, SPEED);
+ analogWrite(ENB, SPEED);
}
}
-// Turn Left - Using the exact structure from Medical_V2.ino
-void turnLeft() {
- digitalWrite(IN2, HIGH);
+// Turn Right - Using the exact structure from Medical_V2.ino
+void turnRight() {
+ digitalWrite(IN2, LOW); // Left motor stopped
digitalWrite(IN1, LOW);
- digitalWrite(IN4, LOW);
- digitalWrite(IN3, LOW);
+ digitalWrite(IN4, LOW); // Right motor forward (per reversed convention)
+ digitalWrite(IN3, HIGH);
Direction = 0;
// No IMU control for turning
- analogWrite(ENA, SPEED);
- analogWrite(ENB, 0);
+ analogWrite(ENA, 0); // Left motor stopped
+ analogWrite(ENB, SPEED); // Right motor active
}
-// Turn Right - Using the exact structure from Medical_V2.ino
-void turnRight() {
- digitalWrite(IN2, LOW);
- digitalWrite(IN1, LOW);
- digitalWrite(IN4, HIGH);
+// Turn Left - Using the exact structure from Medical_V2.ino
+void turnLeft(IN2, LOW); // Left motor forward (per reversed convention)
+ digitalWrite(IN1, HIGH);
+ digitalWrite(IN4, LOW); // Right motor stopped
digitalWrite(IN3, LOW);
Direction = 0;
// No IMU control for turning
- analogWrite(ENA, 0);
- analogWrite(ENB, SPEED);
+ analogWrite(ENA, SPEED); // Left motor active
+ analogWrite(ENB, 0); // Right motor stopped
}
-
// Using the exact IMU_Control from Medical_V2.ino
void IMU_Control() {
// Update IMU data
--
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