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autonomous_wheelchair_code/arduino_driver_code/motor_control_with_testing.ino

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+#include <Arduino.h>
+
+// Define pins for L293D Motor Controller
+const int inputPin1 = 10;  // Pin 15 of L293D IC
+const int inputPin2 = 11;  // Pin 10 of L293D IC
+const int inputPin3 = 9;   // Pin 7 of L293D IC
+const int inputPin4 = 8;   // Pin 2 of L293D IC
+int ENA = 6; // L293D Enable Pin for motor A
+int ENB = 5; // L293D Enable Pin for motor B
+int defaultSpeed = 60;
+
+// Define pins for HC-SR04 Ultrasonic Sensor
+const int trigPin = 12;
+const int echoPin = 13;
+
+// Global variables
+long duration;
+int distance;
+int stop = 0;
+int incomingSpeedA = 0;    // for incoming speed data of motor A
+int incomingSpeedB = 0;    // for incoming speed data of motor B
+
+void setup() {
+  Serial.begin(9600);
+  pinMode(inputPin1, OUTPUT);
+  pinMode(inputPin2, OUTPUT);
+  pinMode(inputPin3, OUTPUT);
+  pinMode(inputPin4, OUTPUT);
+  pinMode(ENA, OUTPUT);
+  pinMode(ENB, OUTPUT);
+  pinMode(trigPin, OUTPUT);
+  pinMode(echoPin, INPUT);
+}
+
+void loop() {
+  if (Serial.available()) {
+    String command = Serial.readStringUntil('\n');
+    if (command == "TEST_MOTOR_CONTROLLER") {
+      testMotorController();
+    } else if (command == "TEST_ULTRASONIC_SENSOR") {
+      testUltrasonicSensor();
+    }
+  }
+
+  digitalWrite(trigPin, LOW);
+  delayMicroseconds(2);
+  digitalWrite(trigPin, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(trigPin, LOW);
+
+  duration = pulseIn(echoPin, HIGH);
+  distance = duration * 0.034 / 2;
+
+  if (digitalRead(2) == 1 && distance > 10) {
+    if (stop == 1) {
+      //jumpstart
+      digitalWrite(inputPin1, HIGH);
+      digitalWrite(inputPin2, LOW);
+      digitalWrite(inputPin3, HIGH);
+      digitalWrite(inputPin4, LOW);
+      analogWrite(ENA, 120);
+      analogWrite(ENB, 2 * 120);
+      delay(1000); // waits for a second
+      stop = 0;
+    }
+
+    if (Serial.available() > 0) {
+      String input = Serial.readStringUntil(',');
+      incomingSpeedA = input.toInt();
+      input = Serial.readStringUntil('\n');
+      incomingSpeedB = input.toInt();
+
+      // set motor A speed
+      Serial.print("Setting motor A speed to: ");
+      Serial.println(incomingSpeedA);
+      analogWrite(ENA, incomingSpeedA);
+
+      // set motor B speed
+      Serial.print("Setting motor B speed to: ");
+      Serial.println(incomingSpeedB);
+      analogWrite(ENB, 2 * incomingSpeedB);
+    }
+  } else {
+    //turn off motor
+    digitalWrite(inputPin1, LOW);
+    digitalWrite(inputPin2, LOW);
+    digitalWrite(inputPin3, LOW);
+    digitalWrite(inputPin4, LOW);
+    stop = 1;
+  }
+}
+
+void testMotorController() {
+  // Test Motor Controller
+  digitalWrite(inputPin1, HIGH);
+  digitalWrite(inputPin2, LOW);
+  digitalWrite(inputPin3, HIGH);
+  digitalWrite(inputPin4, LOW);
+  analogWrite(ENA, 120);
+  analogWrite(ENB, 2 * 120);
+  delay(1000);
+  digitalWrite(inputPin1, LOW);
+  digitalWrite(inputPin2, LOW);
+  digitalWrite(inputPin3, LOW);
+  digitalWrite(inputPin4, LOW);
+
+  // Check if motor is running
+  if !(digitalRead(inputPin1) == HIGH && digitalRead(inputPin2) == LOW &&
+      digitalRead(inputPin3) == HIGH && digitalRead(inputPin4) == LOW &&
+      analogRead(ENA) == 120 && analogRead(ENB) == 2 * 120) {
+    Serial.println("Motor Controller Test Failed");
+  } else {
+    Serial.println("Motor Controller Test Successful");
+  }
+}
+
+void testUltrasonicSensor() {
+  // Test Ultrasonic Sensor
+  long duration = pulseIn(echoPin, HIGH);
+  float distance = duration * 0.034 / 2;
+
+  // Check if distance is valid
+  if !(distance > 0) {
+    Serial.println("Ultrasonic Sensor Test Failed");
+  } else {
+    Serial.print("Ultrasonic Sensor Distance: ");
+    Serial.println(distance);
+    Serial.println("Ultrasonic Sensor Test Successful");
+  }
+}