following_sine_curve

#include <math.h> // Include the math library for the sin() function

// Pin configuration
const int motorPWM = 9;       // PWM output pin connected to the H-bridge for motor speed control
const int motorDir1 = 7;      // Digital pin for motor direction control (direction 1)
const int motorDir2 = 8;      // Digital pin for motor direction control (direction 2)
const int buttonPin = 2;      // Digital pin connected to the push button

// Variables for sine wave generation
float angle = 0.0;            // Angle for the sine function
const float increment = 0.1;  // Angle increment for smoother transitions

void setup() {
    // Set up the pin modes
    pinMode(motorPWM, OUTPUT);     // Set PWM pin as output
    pinMode(motorDir1, OUTPUT);    // Set direction control pin 1 as output
    pinMode(motorDir2, OUTPUT);    // Set direction control pin 2 as output
    pinMode(buttonPin, INPUT_PULLUP);  // Set button pin as input with an internal pull-up resistor

    // Initialize the serial monitor for debugging
    Serial.begin(9600);

    // Initial motor state (stopped)
    analogWrite(motorPWM, 0); // Ensure the motor is not running at the start
}

void loop() {
    // Check if the button is pressed (LOW when pressed due to internal pull-up)
    if (digitalRead(buttonPin) == LOW) {
        // Set the motor direction (e.g., forward)
        digitalWrite(motorDir1, HIGH);
        digitalWrite(motorDir2, LOW);

        // Generate a sine wave pattern for the motor speed
        int motorSpeed = (sin(angle) * 127.5) + 127.5; // Scale sine (-1 to 1) to (0 to 255)
        analogWrite(motorPWM, motorSpeed); // Write the PWM value to the motor

        // Print the current motor status and speed for debugging
        Serial.print("Motor is ON, Speed: ");
        Serial.println(motorSpeed);

        // Increment the angle for the next loop iteration
        angle += increment;
        if (angle >= 2 * PI) {
            angle -= 2 * PI; // Keep the angle within 0 to 2*PI range
        }
    } else {
        // Stop the motor when the button is not pressed
        analogWrite(motorPWM, 0);

        // Print the current motor status for debugging
        Serial.println("Motor is OFF");
    }

    // Small delay for smoother transitions (adjust as needed)
    delay(20);
}