Arduino Robot (geïmproviseerde) dwalen (4 / 4 stap)

Stap 4: Code

Hier is mijn code;

Please respect het kostte me tijd om te schrijven;

Code door Jason McLaughlin
2015

Const int channel_a_enable = 6;

Const int channel_a_input_1 = 4;

Const int channel_a_input_2 = 7;

Const int channel_b_enable = 5;

Const int channel_b_input_3 = 3;

Const int channel_b_input_4 = 2;

#define trigPin 10

#define echoPin 9

VOID Setup {}

pinMode (trigPin, OUTPUT);

pinMode (echoPin, INPUT);

pinMode (channel_a_enable, OUTPUT); Kanaal A inschakelen

pinMode (channel_a_input_1, OUTPUT); Kanaal A ingang 1

pinMode (channel_a_input_2, OUTPUT); Kanaal A ingang 2

pinMode (channel_b_enable, OUTPUT); Kanaal B inschakelen

pinMode (channel_b_input_3, OUTPUT); Kanaal B ingang 3

pinMode (channel_b_input_4, OUTPUT); Kanaal B ingang 4

Serial.begin (9600);

Serial.println ('gestart'); }

void loop {}

Ping/Ultra Sonic Sensor

int duur, afstand;

digitalWrite (trigPin, hoge);

delayMicroseconds(1000);

digitalWrite (trigPin, laag);

duur = pulseIn (echoPin, hoge);

afstand = (duur / 2) / 29.1;

Serial.Print(distance);

Serial.println ("cm");

delay(0);

Vooruit

if(Distance>5) {Serial.println ("vooruit:)");

analogWrite (channel_a_enable, 255);

digitalWrite (channel_a_input_1, hoge);

digitalWrite (channel_a_input_2, laag);

analogWrite (channel_b_enable, 255);

digitalWrite (channel_b_input_3, hoge);

digitalWrite (channel_b_input_4, laag);

delay(50);

allInputsOff();}

anders if(distance<5)

{ }

else {Serial.println ("kanaal A Idle");

analogWrite (channel_a_enable, 0);

digitalWrite (channel_a_input_1, laag);

digitalWrite (channel_a_input_2, laag);

delay(50);

allInputsOff();}

if(Distance<5)

{Serial.println("Turing");

analogWrite (channel_a_enable, 255);

digitalWrite (channel_a_input_1, laag);

digitalWrite (channel_a_input_2, hoge);

analogWrite (channel_b_enable, 255);

digitalWrite (channel_b_input_3, hoge);

digitalWrite (channel_b_input_4, laag);

delay(50);

allInputsOff();}

anders als (afstand > 5) {}

anders

{Serial.println ("kanaal A reverse Idle");

analogWrite (channel_a_enable, 0);

digitalWrite (channel_a_input_1, laag);

digitalWrite (channel_a_input_2, laag);

delay(50);

allInputsOff();}

}

VOID allInputsOff()

{

digitalWrite (4, laag);

digitalWrite (7, laag);

digitalWrite (6, laag);

digitalWrite (3, laag);

digitalWrite (2, laag);

digitalWrite (5, laag);

}