LEGO spår Bot (13 / 14 steg)
Steg 13: Testa roboten
#define LEFT_EN 6
#define LEFT_A1 4 / / Motor A1
#define LEFT_A2 5 / / Motor A2
#define RIGHT_EN 9
#define RIGHT_A1 7 / / Motor B1
#define RIGHT_A2 8 / / Motor B2
void setup() {
pinMode (LEFT_EN, OUTPUT);
pinMode (LEFT_A1, OUTPUT);
pinMode (LEFT_A2, OUTPUT);
pinMode (RIGHT_EN, OUTPUT);
pinMode (RIGHT_A1, OUTPUT);
pinMode (RIGHT_A2, OUTPUT);
digitalWrite (LEFT_EN, låg);
digitalWrite (RIGHT_EN, låg);
}
void Forward() {//Go fram
digitalWrite (LEFT_EN, hög);
digitalWrite (LEFT_A1, hög);
digitalWrite(LEFT_A2,LOW);
digitalWrite(RIGHT_EN,HIGH);
digitalWrite (RIGHT_A1, hög);
digitalWrite (RIGHT_A2, låg);
}
void Left() {
digitalWrite (LEFT_EN, hög);
digitalWrite (LEFT_A1, hög);
digitalWrite(LEFT_A2,LOW);
digitalWrite (RIGHT_EN, hög);
digitalWrite (RIGHT_A1, låg);
digitalWrite (RIGHT_A2, låg);
}
void Right() {
digitalWrite (LEFT_EN, hög);
digitalWrite (LEFT_A1, låg);
digitalWrite (LEFT_A2, låg);
digitalWrite (RIGHT_EN, hög);
digitalWrite (RIGHT_A1, hög);
digitalWrite (RIGHT_A2, låg);
}
Gå bakåt
void Backward() {
digitalWrite (LEFT_EN, hög);
digitalWrite (LEFT_A1, låg);
digitalWrite (LEFT_A2, hög);
digitalWrite(RIGHT_EN,HIGH);
digitalWrite (RIGHT_A1, låg);
digitalWrite (RIGHT_A2, hög);
}
Stanna
void Stop() {
digitalWrite (LEFT_EN, låg);
digitalWrite (LEFT_A1, låg);
digitalWrite (LEFT_A2, låg);
digitalWrite (RIGHT_EN, låg);
digitalWrite (RIGHT_A1, låg);
digitalWrite (RIGHT_A2, låg);
}
void loop() {
Forward();
Delay(3000);
Left();
Delay(4000);
Backward();
Delay(2000);
Right();
Delay(4000);
Stop();
Delay(1500);
Forward();
Delay(3000);
Backward();
Delay(2000);
Stop();
Delay(2000);
}