hamuchiwa
103 linhas
1.9 KiB
Arduino
103 linhas
1.9 KiB
Arduino
// assign pin num
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int right_pin = 6;
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int left_pin = 7;
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int forward_pin = 10;
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int reverse_pin = 9;
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// duration for output
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int time = 50;
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// initial command
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int command = 0;
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void setup() {
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pinMode(right_pin, OUTPUT);
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pinMode(left_pin, OUTPUT);
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pinMode(forward_pin, OUTPUT);
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pinMode(reverse_pin, OUTPUT);
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Serial.begin(115200);
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}
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void loop() {
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//receive command
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if (Serial.available() > 0){
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command = Serial.read();
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}
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else{
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reset();
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}
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send_command(command,time);
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}
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void right(int time){
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digitalWrite(right_pin, LOW);
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delay(time);
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}
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void left(int time){
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digitalWrite(left_pin, LOW);
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delay(time);
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}
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void forward(int time){
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digitalWrite(forward_pin, LOW);
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delay(time);
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}
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void reverse(int time){
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digitalWrite(reverse_pin, LOW);
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delay(time);
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}
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void forward_right(int time){
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digitalWrite(forward_pin, LOW);
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digitalWrite(right_pin, LOW);
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delay(time);
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}
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void reverse_right(int time){
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digitalWrite(reverse_pin, LOW);
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digitalWrite(right_pin, LOW);
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delay(time);
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}
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void forward_left(int time){
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digitalWrite(forward_pin, LOW);
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digitalWrite(left_pin, LOW);
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delay(time);
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}
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void reverse_left(int time){
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digitalWrite(reverse_pin, LOW);
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digitalWrite(left_pin, LOW);
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delay(time);
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}
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void reset(){
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digitalWrite(right_pin, HIGH);
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digitalWrite(left_pin, HIGH);
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digitalWrite(forward_pin, HIGH);
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digitalWrite(reverse_pin, HIGH);
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}
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void send_command(int command, int time){
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switch (command){
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//reset command
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case 0: reset(); break;
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// single command
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case 1: forward(time); break;
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case 2: reverse(time); break;
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case 3: right(time); break;
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case 4: left(time); break;
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//combination command
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case 6: forward_right(time); break;
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case 7: forward_left(time); break;
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case 8: reverse_right(time); break;
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case 9: reverse_left(time); break;
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default: Serial.print("Inalid Command\n");
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}
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}
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