DogBot (6 / 7 steg)

Steg 6: Kodning arduino

int legs1 = 3;
int legs2 = 4;
int knees1 = 6;
int knees2 = 7.
int legs3 = 8;
int legs4 = 9;
int knees3 = 10;
int knees4 = 11;
int staten.

int flagga = 0;

void setup() {

pinMode (legs1, produktionen); Ben 1 3
pinMode (legs2, produktionen); etapp 13
pinMode (knees1, produktionen); knä 1 3
pinMode (knees2, produktionen); / / knä 1 3

pinMode (legs3, produktionen); / / ben 2 4
pinMode (legs4, produktionen); / / ben 2 4
pinMode(knees3,OUTPUT); / / knä 2 4
pinMode(knees4,OUTPUT); / / knä 2 4

Serial.BEGIN(9600);
}

void loop() {

IF(Serial.available() > 0) {
State = Serial.read();
flagga = 0;
}

om (statligt == '0') {/ / motor off
digitalWrite (legs1, låg);
digitalWrite (legs2, låg);
digitalWrite(knees1,LOW);
digitalWrite(knees2,LOW);
digitalWrite(legs3,LOW);
digitalWrite(legs4,LOW);
digitalWrite(knees3,LOW);
digitalWrite(knees4,LOW);
IF(Flag == 0) {
Serial.println ("Motor: off");
Flagga = 1;
}
}
om staten '1' att motorn gå rätt
annars om (statligt == '1') {
digitalWrite(knees1,HIGH);
digitalWrite(knees2,LOW);
Delay(100);
digitalWrite(knees1,LOW);
digitalWrite(knees2,LOW);
Delay(400);

digitalWrite (legs1, låg);
digitalWrite (legs2, hög);
Delay(300);
digitalWrite (legs1, låg);
digitalWrite (legs2, låg);
Delay(400);

digitalWrite(knees1,LOW);
digitalWrite(knees2,HIGH);
Delay(100);
digitalWrite(knees1,LOW);
digitalWrite(knees2,LOW);
Delay(400);

digitalWrite (legs1, hög);
digitalWrite (legs2, låg);
Delay(300);
digitalWrite (legs1, låg);
digitalWrite (legs2, låg);
Delay(400);

digitalWrite(knees3,HIGH);
digitalWrite(knees4,LOW);
Delay(100);
digitalWrite(knees3,LOW);
digitalWrite(knees4,LOW);
Delay(400);
digitalWrite(legs3,LOW);
digitalWrite(legs4,HIGH);
Delay(300);
digitalWrite(legs3,LOW);
digitalWrite(legs4,LOW);
Delay(400);
digitalWrite(knees3,LOW);
digitalWrite(knees4,HIGH);
Delay(100);
digitalWrite(knees3,LOW);
digitalWrite(knees4,LOW);
Delay(400);
digitalWrite(legs3,HIGH);
digitalWrite(legs4,LOW);
Delay(300);
digitalWrite(legs3,LOW);
digitalWrite(legs4,LOW);
Delay(400);
IF(Flag == 0) {
Serial.println ("Motor: framåt");
Flagga = 1;
}
}

}