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--- en:iot-open:practical:hardware:taltech:arduino:scenarios:dc [2025/07/18 14:03] – ingmar05
+++ en:iot-open:practical:hardware:taltech:arduino:scenarios:dc [2025/09/02 18:02] (current) – raivo.sell
@@ Line 1: / Line 1: @@
+<pagebreak>
+====== Controlling a DC motor ======
+This scenario demonstrates how to control a DC motor's rotation direction and speed using Arduino with the Pololu TB6612FNG Dual Motor Driver.
+{{:en:iot-open:practical:hardware:taltech:arduino:scenarios:dc.jpg?100|}}
+===== Prerequisites =====
+  * Familiarize yourself with the Arduino hardware reference.
+  * Understand basic PWM concepts.
+  * Familiarity with the Pololu TB6612FNG motor driver.
+===== Hardware Connections =====
+^ Motor Driver Pin  ^ Arduino Pin  ^
+| AIN1              | 12           |
+| AIN2              | 11           |
+| PWMA              | 3 (PWM)      |
+**Motor specifications:**
+  * Voltage: 12 V DC
+  * Speed: 5 rpm
+  * Torque: 20 N·cm
+  * Shaft Diameter: 4 mm
+===== Task =====
+Implement a program that rotates the DC motor forward at full speed for 5 seconds, pauses for 2 seconds, reverses at half speed for 5 seconds, and then pauses again for 2 seconds, repeating this sequence.
+===== Steps =====
+=== Step 1: Define Pins ===
+<code c>
+const int AIN1 = 12;
+const int AIN2 = 11;
+const int PWMA = 3;
+</code>
+=== Step 2: Setup ===
+Configure pin modes:
+<code c>
+void setup() {
+  pinMode(AIN1, OUTPUT);
+  pinMode(AIN2, OUTPUT);
+  pinMode(PWMA, OUTPUT);
+}
+</code>
+=== Step 3: Control Loop ===
+Implement motor control logic:
+<code c>
+void loop() {
+  // Rotate Forward at full speed
+  digitalWrite(AIN1, HIGH);
+  digitalWrite(AIN2, LOW);
+  analogWrite(PWMA, 255);  // Full speed
+  delay(5000);             // 5 seconds
+  // Stop motor
+  digitalWrite(AIN1, LOW);
+  digitalWrite(AIN2, LOW);
+  delay(2000);             // 2 seconds pause
+  // Rotate Reverse at half speed
+  digitalWrite(AIN1, LOW);
+  digitalWrite(AIN2, HIGH);
+  analogWrite(PWMA, 128);  // Half speed
+  delay(5000);             // 5 seconds
+  // Stop motor again
+  digitalWrite(AIN1, LOW);
+  digitalWrite(AIN2, LOW);
+  delay(2000);             // 2 seconds pause
+}
+</code>
+===== Validation =====
+Observe the motor rotating in both directions with clear speed differences. Verify pauses between rotations.
+===== Troubleshooting =====
+If the motor doesn’t rotate or behaves erratically:
+  * Check power supply (motor needs 12V DC).
+  * Confirm motor driver connections.
+  * Verify Arduino pin assignments match the code.