DCモーターの回転を制御してみる(Arduino)

// This is the library for the TB6612 that contains the class Motor and all the
// functions
// インクルード宣言　SparkFun_TB6612ライブラリ利用宣言
#include <SparkFun_TB6612.h>
// Pins for all inputs, keep in mind the PWM defines must be on PWM pins
// the default pins listed are the ones used on the Redbot (ROB-12097) with
// the exception of STBY which the Redbot controls with a physical switch
// 使用デジタルピン設定（今回はBのみ設定）
define AIN1 2    // 未設定
define AIN2 3    // 未設定
define PWMA 5    // 未設定
define BIN1 11
define BIN2 10
define PWMB 9
define STBY 7
// these constants are used to allow you to make your motor configuration 
// line up with function names like forward.  Value can be 1 or -1
// モータの構成を設定
const int offsetA = 1;
const int offsetB = 1;
// Initializing motors.  The library will allow you to initialize as many
// motors as you have memory for.  If you are using functions like forward
// that take 2 motors as arguements you can either write new functions or
// call the function more than once.
// オブジェクト生成
Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);
void setup() {
   // put your setup code here, to run once:
}
void loop() {
   //Use of the drive function which takes as arguements the speed
   //and optional duration.  A negative speed will cause it to go
   //backwards.  Speed can be from -255 to 255.  Also use of the 
   //brake function which takes no arguements.
   // motor1を255の（正転）速度で、1秒回転（次の指示があっても1秒は実行する）
   motor1.drive(255,1000);
   // motor1を-255の（逆転）速度で、1秒回転（次の指示があっても1秒は実行する）
   motor1.drive(-255,1000);
   // motor1を停止
   motor1.brake();
   delay(1000);
   //Use of the drive function which takes as arguements the speed
   //and optional duration.  A negative speed will cause it to go
   //backwards.  Speed can be from -255 to 255.  Also use of the 
   //brake function which takes no arguements.
   // motor2を255の（正転）速度で、1秒回転（次の指示があっても1秒は実行する）
   motor2.drive(255,1000);
   // motor2を-255の（逆転）速度で、1秒回転（次の指示があっても1秒は実行する）
   motor2.drive(-255,1000);
   // motor2を停止
   delay(1000);
   //Use of the forward function, which takes as arguements two motors
   //and optionally a speed.  If a negative number is used for speed
   //it will go backwards
   // motor1,motor2を150の（正転）速度で、前進（同時に回転）させる
   forward(motor1, motor2, 150);
   delay(1000);
   //Use of the back function, which takes as arguments two motors 
   //and optionally a speed.  Either a positive number or a negative
   //number for speed will cause it to go backwards
   // motor1,motor2を-150の（逆転）速度で、後退（同時に回転）させる
   back(motor1, motor2, -150);
   delay(1000);
   //Use of the brake function which takes as arguments two motors.
   //Note that functions do not stop motors on their own.
   // motor1,motor2を同時に停止する
   brake(motor1, motor2);
   delay(1000);
   //Use of the left and right functions which take as arguements two
   //motors and a speed.  This function turns both motors to move in 
   //the appropriate direction.  For turning a single motor use drive.
   // motor1,motor2を使って100の速度で左へ（効率よく？）旋回する
   left(motor1, motor2, 100);
   delay(1000);
   // motor1,motor2を使って100の速度で右へ（効率よく？）旋回する
   right(motor1, motor2, 100);
   delay(1000);
   //Use of brake again.
   // motor1,motor2を同時に停止する
   brake(motor1, motor2);
   delay(1000);
}

// 使用デジタルピン設定
define BIN1 11
define BIN2 10
define PWMB 9
define STBY 7
void setup() {
  // put your setup code here, to run once:
  // ピンモード設定
  pinMode( BIN1, OUTPUT ); 
  pinMode( BIN2, OUTPUT );
  pinMode( STBY, OUTPUT );
  // 停止状態に設定（初期化）
  digitalWrite( BIN1, LOW );
  digitalWrite( BIN2, LOW );
  analogWrite( PWMB, 255);
  // 駆動可能状態に設定
  digitalWrite( STBY, HIGH );
}
void loop() {
  // put your main code here, to run repeatedly:
  // 正転（時計回り）CW
  digitalWrite( BIN1, HIGH );
  digitalWrite( BIN2, LOW );
  analogWrite( PWMB, 255);
  delay(200);
  // ショートブレーキ
  digitalWrite( BIN1, HIGH );
  digitalWrite( BIN2, LOW );
  analogWrite( PWMB, 0);
  delay(2000);
  // 反転（反時計回り）CCW
  digitalWrite( BIN1, LOW );
  digitalWrite( BIN2, HIGH );
  analogWrite( PWMB, 255);
  delay(200);
  // 停止
  digitalWrite( BIN1, LOW );
  digitalWrite( BIN2, LOW );
  analogWrite( PWMB, 0);
  delay(2000);
}

// インクルード宣言　SparkFun_TB6612ライブラリ利用宣言
#include <SparkFun_TB6612.h>
// 使用デジタルピン設定
define BIN1 11
define BIN2 10
define PWMB 9
define STBY 7
// モータの構成を設定
const int offsetB = 1;
// オブジェクト生成
Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);
void setup() {
  // put your setup code here, to run once:
}
void loop() {
  // put your main code here, to run repeatedly:
  // A0ピンより可変抵抗値の電圧を取得
  int val = analogRead( A0 );
  // A0ピンの取得値を map()関数で、0 から 255 に数値置換
  val = map( val, 0, 1023, 0, 255 );
  // 変換したvalの値で、モータを回転させる
  motor2.drive( val );
  delay(20);
}