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Copy pathfirmware.ino
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firmware.ino
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//Car mappping
// Motor A connections
int enA = 10;
int in1 = 9;
int in2 = 8;
// Motor B connections
int enB = 5;
int in3 = 7;
int in4 = 6;
//defining pins and variables
#define leftsensor A3
#define rightsensor A2
void setup() {
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
// Turn off motors - Initial state
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
//declaring pin types
pinMode(A3,INPUT);
pinMode(A2,INPUT);
//begin serial communication
Serial.begin(9600);
analogWrite(enA, 85*1.5);
analogWrite(enB, 97*1.5);
delay(1000);
}
void NinetyRight() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(195);
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
delay(1000);
}
void NinetyLeft() {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(195);
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
delay(1000);
}
void OneSpaceForward() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(390);
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
delay(1000);
}
void OneSpaceReverse() {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(500);
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
delay(1000);
}
void speedControl() {
// Turn on motors
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
// Accelerate from zero to maximum speed
for (int i = 0; i < 256; i++) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Decelerate from maximum speed to zero
for (int i = 255; i >= 0; --i) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
void loop(){ OneSpaceForward(); NinetyRight(); OneSpaceForward(); OneSpaceForward(); OneSpaceForward(); NinetyRight(); OneSpaceForward(); NinetyLeft(); OneSpaceForward(); OneSpaceForward(); NinetyLeft(); OneSpaceForward(); OneSpaceForward(); OneSpaceForward(); return;}