/*
Voltaat learn (http://learn.voltaat.com)
Link for full tutorial: https://learn.voltaat.com/2023/03/30/control-two-motors-with-arduino-using-l298n-motor-driver/

Tutorial: Control two 775 DC motors with Arduino, using L298N motor driver!

The purpose of this sketch is to control a dc motor to Turn on and off
and change the rotation speed of two 775 dc motors.

Connections from the l298n motor driver to arduino :

• ENABLE A pin→ Arduino pin 10

• Input1 pin→ Arduino pin 9

• Input2 pin→ Arduino pin 8

• Input3 pin→ Arduino pin 7

• Input4 pin→ Arduino pin 6

• ENABLE B pin→ Arduino pin 5

Connections from 18650 battery holder to the l298n motor driver:

• positive wire of the 18650 battery holder →  VS terminal

• negative wire of the 18650 battery holder → Gnd terminal + Arduino GND pin

Connections from the motor 1 to the l298n motor driver:

• Motor 1 first wire  →  Out1

• Motor 1 second wire → Out2  

Connections from the motor 2 to the l298n motor driver:

• Motor 2 first wire  →  Out3

• Motor 2 second wire → Out4

*/

//Initially, we will name the Arduino pins that we will use:

#define enA 10
#define in1 9
#define in2 8
#define in3 7
#define in4 6
#define enB 5


void setup() {
//setting the Arduino pins to work as an output or an input:
 pinMode(enA, OUTPUT);
 pinMode(in1, OUTPUT);
 pinMode(in2, OUTPUT);
 pinMode(in3, OUTPUT);
 pinMode(in4, OUTPUT);
 pinMode(enB, OUTPUT);

// Set initial rotation direction:
 digitalWrite(in1, LOW);
 digitalWrite(in2, LOW);
 digitalWrite(in3, LOW);
 digitalWrite(in4, LOW);

}

void loop() {
/*In the first three seconds, we will make the first motor spin while the other one will stop */

   analogWrite(enA, 100); // Send PWM signal to L298N Enable pin
   analogWrite(enB, 100); // Send PWM signal to L298N Enable pin
   digitalWrite(in1, HIGH);
   digitalWrite(in2, LOW);
   digitalWrite(in3, LOW);
   digitalWrite(in4, LOW);
   delay(3000);

/* While in the next three seconds, the second motor will spin, while the first will stop*/

   digitalWrite(in1, LOW);
   digitalWrite(in2, LOW);
   digitalWrite(in3, HIGH);
   digitalWrite(in4, LOW);
   delay(3000);
 
/* Then the two motors will rotate together in the same direction for three seconds at a speed specified in the code(PWM=100)*/

   digitalWrite(in1, HIGH);
   digitalWrite(in2, LOW);
   digitalWrite(in3, HIGH);
   digitalWrite(in4, LOW);
   delay(3000);
 

/* Then the two motors will rotate together in the opposite direction for a period of three seconds at a speed faster than the previous stage. It is specified in the code to be the maximum speed (PWM = 255)*/

   analogWrite(enA, 255); // Send PWM signal to L298N Enable A pin
   analogWrite(enB, 255); // Send PWM signal to L298N Enable B pin
   digitalWrite(in1, LOW);
   digitalWrite(in2, HIGH);
   digitalWrite(in3, LOW);
   digitalWrite(in4, HIGH);
   delay(3000);

}