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libraries/A4990MotorShield/examples/A4990MotorShieldDemo/A4990MotorShieldDemo.ino

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+#include <A4990MotorShield.h>
+
+/*
+ * This example uses the A4990MotorShield library to drive each motor with the
+ * Pololu A4990 Dual Motor Driver Shield for Arduino forward, then backward. 
+ * The yellow user LED is on when a motor is set to a positive speed and off when
+ * a motor is set to a negative speed.
+ */
+
+#define LED_PIN 13
+
+A4990MotorShield motors;
+
+/* 
+ * For safety, it is good practice to monitor motor driver faults and handle
+ * them in an appropriate way. If a fault is detected, both motor speeds are set
+ * to zero and it is reported on the serial port.
+ */
+void stopIfFault()
+{
+  if (motors.getFault())
+  {
+    motors.setSpeeds(0,0);
+    Serial.println("Fault");
+    while(1);
+  }
+}
+
+void setup()
+{
+  pinMode(LED_PIN, OUTPUT);
+  Serial.begin(115200);
+  Serial.println("Pololu A4990 Dual Motor Driver Shield for Arduino");
+  
+  // uncomment one or both of the following lines if your motors' directions need to be flipped
+  //motors.flipM1(true);
+  //motors.flipM2(true);
+}
+
+void loop()
+{
+  // run M1 motor with positive speed
+
+  digitalWrite(LED_PIN, HIGH);
+  
+  for (int speed = 0; speed <= 400; speed++)
+  {
+    motors.setM1Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+
+  for (int speed = 400; speed >= 0; speed--)
+  {
+    motors.setM1Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+  
+  // run M1 motor with negative speed
+  
+  digitalWrite(LED_PIN, LOW);
+  
+  for (int speed = 0; speed >= -400; speed--)
+  {
+    motors.setM1Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+  
+  for (int speed = -400; speed <= 0; speed++)
+  {
+    motors.setM1Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+
+  // run M2 motor with positive speed
+  
+  digitalWrite(LED_PIN, HIGH);
+  
+  for (int speed = 0; speed <= 400; speed++)
+  {
+    motors.setM2Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+
+  for (int speed = 400; speed >= 0; speed--)
+  {
+    motors.setM2Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+  
+  // run M2 motor with negative speed
+  
+  digitalWrite(LED_PIN, LOW);
+  
+  for (int speed = 0; speed >= -400; speed--)
+  {
+    motors.setM2Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+  
+  for (int speed = -400; speed <= 0; speed++)
+  {
+    motors.setM2Speed(speed);
+    stopIfFault();
+    delay(2);
+  }
+  
+  delay(500);
+}