//www.elegoo.com //2016.09.12 /*define logic control output pin*/ int in1=9; int in2=8; int in3=7; int in4=6; /*define channel enable output pins*/ int ENA=10; int ENB=5; /*define forward function*/ void _mForward() { digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); digitalWrite(in1,LOW);//digital output digitalWrite(in2,HIGH); digitalWrite(in3,LOW); digitalWrite(in4,HIGH); Serial.println("Forward"); } /*define back function*/ void _mBack() { digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); digitalWrite(in1,HIGH); digitalWrite(in2,LOW); digitalWrite(in3,HIGH); digitalWrite(in4,LOW); Serial.println("Back"); } /*define left function*/ void _mleft() { digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); digitalWrite(in1,LOW); digitalWrite(in2,HIGH); digitalWrite(in3,HIGH); digitalWrite(in4,LOW); Serial.println("Left"); } /*define right function*/ void _mright() { digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); digitalWrite(in1,HIGH); digitalWrite(in2,LOW); digitalWrite(in3,LOW); digitalWrite(in4,HIGH); Serial.println("Right"); } /*put your setup code here, to run once*/ void setup() { Serial.begin(9600); //Open the serial port and set the baud rate to 9600 /*Set the defined pins to the output*/ pinMode(in1,OUTPUT); pinMode(in2,OUTPUT); pinMode(in3,OUTPUT); pinMode(in4,OUTPUT); pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); } /*put your main code here, to run repeatedly*/ void loop() { _mForward(); delay(1000); _mBack(); delay(1000); _mleft(); delay(1000); _mright(); delay(1000); }