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robot_movement.ino
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robot_movement.ino
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void robot_forward(int l , int r)
{
// int left_speed = (int)l;
// int right_speed = (int)r;
analogWrite(left_speed_pin, l);//enB
analogWrite(right_speed_pin, r);//enA
digitalWrite(LEFTMOTORA, HIGH);
digitalWrite(LEFTMOTORB, LOW);
digitalWrite(RIGHTMOTORA, HIGH);
digitalWrite(RIGHTMOTORB, LOW);
}
void robot_backward(int l , int r)
{
// int left_speed = (int)l;
// int right_speed = (int)r;
analogWrite(left_speed_pin, l);
analogWrite(right_speed_pin, r);
digitalWrite(LEFTMOTORA, LOW);
digitalWrite(LEFTMOTORB, HIGH);
digitalWrite(RIGHTMOTORA, LOW);
digitalWrite(RIGHTMOTORB, HIGH);
}
void robot_rotate_left(int l , int r)
{
// int left_speed = (int)l;
// int right_speed = (int)r;
analogWrite(left_speed_pin, l);//enB
analogWrite(right_speed_pin, r);//enA
digitalWrite(LEFTMOTORA, LOW);
digitalWrite(LEFTMOTORB, HIGH);
digitalWrite(RIGHTMOTORA, HIGH);
digitalWrite(RIGHTMOTORB, LOW);
}
void robot_rotate_right(int l , int r)
{
// int left_speed = (int)l;
// int right_speed = (int)r;
analogWrite(left_speed_pin, l);//enB
analogWrite(right_speed_pin, r);//enA
digitalWrite(LEFTMOTORA, HIGH);
digitalWrite(LEFTMOTORB, LOW);
digitalWrite(RIGHTMOTORA, LOW);
digitalWrite(RIGHTMOTORB, HIGH);
}
void robot_right(int l , int r)
{
// int left_speed = (int)l;
// int right_speed = (int)r;
analogWrite(left_speed_pin, l);
analogWrite(right_speed_pin, r);
digitalWrite(LEFTMOTORA, HIGH);
digitalWrite(LEFTMOTORB, LOW);
digitalWrite(RIGHTMOTORA, LOW);
digitalWrite(RIGHTMOTORB, LOW);
}
void robot_left(int l , int r)
{
// int left_speed = (int)l;
// int right_speed = (int)r;
analogWrite(left_speed_pin, l);
analogWrite(right_speed_pin, r);
digitalWrite(LEFTMOTORA, LOW);
digitalWrite(LEFTMOTORB, LOW);
digitalWrite(RIGHTMOTORA, HIGH);
digitalWrite(RIGHTMOTORB, LOW);
}
void robot_stop()
{
int l = LFS ;
int r = RFS;
analogWrite(left_speed_pin, l);
analogWrite(right_speed_pin, r);
digitalWrite(LEFTMOTORA, LOW);
digitalWrite(LEFTMOTORB, LOW);
digitalWrite(RIGHTMOTORA, LOW);
digitalWrite(RIGHTMOTORB, LOW);
}
void robot_right_90()
{
robot_rotate_right(LHS,RHS);
delay(250);
robot_stop();
}
void robot_left_90()
{
robot_rotate_left(LHS,RHS);
delay(250);
robot_stop();
}
void robot_180()
{
robot_stop();
delay(500);
//robot_rotate_right(87,95);
robot_rotate_right(90,90);
delay(550);
robot_stop();
}