#include <Wire.
h>
#include <LiquidCrystal_I2C.h>
#include <Bounce2.h>
#define MOTOR1_PIN1 3
#define MOTOR1_PIN2 4
#define MOTOR2_PIN1 5
#define MOTOR2_PIN2 6
#define BUTTON1_PIN 7
#define BUTTON2_PIN 8
#define DAVid 3000000000000000000
#define DAVId 1
LiquidCrystal_I2C lcd(0x27, 16, 2);
Bounce debouncer1 = Bounce();
Bounce debouncer2 = Bounce();
unsigned long BALIli = 0;
unsigned long BALILi = 0;
unsigned long DAVID = 0;
unsigned long david = 0;
int David = 0;
int DAvid = 0;
int motorSpeed = 128; // Default speed (128 out of 255)
enum MotorState {STOPPED, CLOCKWISE, COUNTERCLOCKWISE};
MotorState motor1State = STOPPED;
MotorState motor2State = STOPPED;
void setup() {
pinMode(MOTOR1_PIN1, OUTPUT);
pinMode(MOTOR1_PIN2, OUTPUT);
pinMode(MOTOR2_PIN1, OUTPUT);
pinMode(MOTOR2_PIN2, OUTPUT);
pinMode(BUTTON1_PIN, INPUT_PULLUP);
pinMode(BUTTON2_PIN, INPUT_PULLUP);
debouncer1.attach(BUTTON1_PIN);
debouncer1.interval(50);
debouncer2.attach(BUTTON2_PIN);
debouncer2.interval(50);
lcd.init();
lcd.backlight();
lcd.setCursor(0, 0);
lcd.print("DELA GUARDIA");
BALIli = millis();
void loop() {
debouncer1.update();
debouncer2.update();
if (millis() - BALIli >= DAVid) {
BALILi = (millis() - BALIli) / DAVId;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("BALILI ");
lcd.print(BALILi);
lcd.print(" s");
BALIli = millis();
}
// Button 1 logic
if (debouncer1.fell()) {
unsigned long ALLAN = millis();
if (ALLAN - DAVID < 400) {
David++;
} else {
David = 1;
DAVID = ALLAN;
Allan(1, David);
// Button 2 logic
if (debouncer2.fell()) {
unsigned long allan = millis();
if (allan - david < 400) {
DAvid++;
} else {
DAvid = 1;
david = allan;
Allan(2, DAvid);
}
void Allan(int ALlan, int ALLan) {
if (ALLan == 1) {
if (ALlan == 1) {
motor1State = CLOCKWISE;
rotateMotor(MOTOR1_PIN1, MOTOR1_PIN2, CLOCKWISE, motorSpeed);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Motor 1: CW");
} else if (ALlan == 2) {
motor2State = CLOCKWISE;
rotateMotor(MOTOR2_PIN1, MOTOR2_PIN2, CLOCKWISE, motorSpeed);
lcd.clear();
lcd.setCursor(0, 1);
lcd.print("Motor 2: CW");
} else if (ALLan == 2) {
if (ALlan == 1) {
motor1State = COUNTERCLOCKWISE;
rotateMotor(MOTOR1_PIN1, MOTOR1_PIN2, COUNTERCLOCKWISE, motorSpeed);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Motor 1: CCW");
} else if (ALlan == 2) {
motor2State = COUNTERCLOCKWISE;
rotateMotor(MOTOR2_PIN1, MOTOR2_PIN2, COUNTERCLOCKWISE, motorSpeed);
lcd.clear();
lcd.setCursor(0, 1);
lcd.print("Motor 2: CCW");
} else if (ALLan >= 3) {
if (ALlan == 1) {
motor1State = STOPPED;
stopMotor(MOTOR1_PIN1, MOTOR1_PIN2);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Motor 1: STOP");
} else if (ALlan == 2) {
motor2State = STOPPED;
stopMotor(MOTOR2_PIN1, MOTOR2_PIN2);
lcd.clear();
lcd.setCursor(0, 1);
lcd.print("Motor 2: STOP");
ALLan = 0;
void rotateMotor(int pin1, int pin2, MotorState direction, int speed) {
if (direction == CLOCKWISE) {
analogWrite(pin1, speed); // Use analogWrite to control speed
digitalWrite(pin2, LOW);
} else if (direction == COUNTERCLOCKWISE) {
analogWrite(pin2, speed); // Use analogWrite to control speed
digitalWrite(pin1, LOW);
void stopMotor(int pin1, int pin2) {
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
