====== Monster Shield ======

<WRAP group>
<WRAP half column>{{:materiel:monstershield:monstershield.jpg?400|}}</WRAP>
<WRAP half column>
[[http://www.instructables.com/id/Monster-Motor-Shield-VNH2SP30/|Instructables]]

  * Voltage Range : 5.5V - 16V
  * Maximum Current rating : 30A
  * Practical Continuous Current: 14 A
  * Current sense output proportional to motor current
  * MOSFET on-resistance: 19 mΩ (per leg)
  * Maximum PWM frequency: 20 kHz
  * Thermal Shutdown
  * Undervoltage and Overvoltage shutdown
</WRAP>
</WRAP>


<code cpp>
// Test Monster shield - UNO

// Réf : http://www.instructables.com/id/Monster-Motor-Shield-VNH2SP30/

// Enable : monster shield A0 et A1 : 5V Arduino
// Alim 6-12VCC

// Mapping UNO          Monster Shield
// D5                   D5 (M1 pwm)
// D7                   D7 (M1 Clockwise CW) digital
// D8                   D8 (M1 Counterclockwise CCW) digital
// D6                   D6 (M2 pwm)
// D4                   D4 (M2 Clockwise CW) digital
// D9                   D9 (M2 Counterclockwise CCW) digital

// motor 1
#define PWM1 5
#define CW1 7 
#define CCW1 8

// motor 2
#define PWM2 6 
#define CW2 4 
#define CCW2 9 

void setup()
{
    pinMode(PWM1, OUTPUT);
    pinMode(CW1, OUTPUT);
    pinMode(CCW1, OUTPUT);

    pinMode(PWM2, OUTPUT);
    pinMode(CW2, OUTPUT);
    pinMode(CCW2, OUTPUT);
}

void loop()
{
  // direction CW
  digitalWrite(CW1, HIGH);
  digitalWrite(CCW1, LOW);
  digitalWrite(CW2, HIGH);
  digitalWrite(CCW2, LOW);
  
  analogWrite(PWM1, 0);
  analogWrite(PWM2, 0);
  delay(3000);

  analogWrite(PWM1, 120);
  analogWrite(PWM2, 120);
  delay(3000);
 
  analogWrite(PWM1, 255);
  analogWrite(PWM2, 255);
  delay(3000);

  // direction CCW 
  digitalWrite(CW1, LOW);
  digitalWrite(CCW1, HIGH);
  digitalWrite(CW2, LOW);
  digitalWrite(CCW2, HIGH);
  
  analogWrite(PWM1, 0);
  analogWrite(PWM2, 0);
  delay(3000);

  analogWrite(PWM1, 120);
  analogWrite(PWM2, 120);
  delay(3000);
 
  analogWrite(PWM1, 255);
  analogWrite(PWM2, 255);
  delay(3000);  
}
</code>

++++ Code avec 4 pins seulement pour les 2 moteurs |
<code cpp>
// Test Monster shield - UNO

// Juste deux pins pour la direction des deux moteurs au lieu de 4.
// direction inversée

// Ref : http://www.instructables.com/id/Monster-Motor-Shield-VNH2SP30/

// Enable : monster shield A0 et A1 : 5V Arduino
// Alim 12VCC

// Mapping UNO          Monster Shield
// D5                   D5 (M1 pwm)
// D7                   D7 (M1 Clockwise CW) digital
// D8                   D8 (M1 Counterclockwise CCW) digital
// D6                   D6 (M2 pwm)
// D4                   D4 (M2 Clockwise CW) digital
// D9                   D9 (M2 Counterclockwise CCW) digital
// 5V                   5V
// GND                  GND

// monster pins
#define PWM1 5
#define PWM2 6
#define CW 7 // CW1 7 + CCW2 9 (inversé)
#define CCW 8 // CCW1 8 + CW2 4 (inversé)

void setup()
{
    pinMode(PWM1, OUTPUT);
    pinMode(PWM2, OUTPUT);
    pinMode(CW, OUTPUT);
    pinMode(CCW, OUTPUT);
}

void loop()
{
  // direction CW
  digitalWrite(CW, HIGH);
  digitalWrite(CCW, LOW);
 
  analogWrite(PWM1, 0);
  analogWrite(PWM2, 0);
  delay(2000);

  analogWrite(PWM1, 80);
  analogWrite(PWM2, 80);
  delay(2000);
 
  analogWrite(PWM1, 150);
  analogWrite(PWM2, 150);
  delay(2000);

  // direction CCW 
  digitalWrite(CW, LOW);
  digitalWrite(CCW, HIGH);
  
  analogWrite(PWM1, 0);
  analogWrite(PWM2, 0);
  delay(2000);

  analogWrite(PWM1, 80);
  analogWrite(PWM2, 80);
  delay(2000);
 
  analogWrite(PWM1, 150);
  analogWrite(PWM2, 150);
  delay(2000);  
}
</code>
++++