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Mobile Platform Arduno
86 lines (78 loc) · 1.66 KB
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Mobile Platform Arduno
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const int leftTrack1 = 2; //Motor Pins
const int leftTrack2 = 3;
const int rightTrack1 = 4;
const int rightTrack2 = 5;
static int v = 0;
void setup()
{
pinMode(leftTrack1, OUTPUT);
pinMode(leftTrack2, OUTPUT);
pinMode(rightTrack1, OUTPUT);
pinMode(rightTrack2, OUTPUT);
Serial.begin(9600);
//delay(4000);
Serial.println("READY");
}
void forward() {
analogWrite(leftTrack1, v);
analogWrite(leftTrack2, LOW);
analogWrite(rightTrack1, LOW);
analogWrite(rightTrack2, v);
v = 0;
}
void backward() {
v = map(v, 0, 110, 255, 0); // had to remap this so left trigger-
analogWrite(leftTrack1, LOW); // increases value not decreses when pressed
analogWrite(leftTrack2, v);
analogWrite(rightTrack1, v);
analogWrite(rightTrack2, LOW);
v = 0;
}
void left() {
analogWrite(leftTrack1, LOW);
analogWrite(leftTrack2, v);
analogWrite(rightTrack1, LOW);
analogWrite(rightTrack2, v);
v = 0;
}
void right() {
analogWrite(leftTrack1, v);
analogWrite(leftTrack2, LOW);
analogWrite(rightTrack1, v);
analogWrite(rightTrack2, LOW);
v = 0;
}
void halt() {
analogWrite(leftTrack1, LOW);
analogWrite(leftTrack2, LOW);
analogWrite(rightTrack1, LOW);
analogWrite(rightTrack2, LOW);
v = 0;
}
void loop()
{
if ( Serial.available()) {
char ch = Serial.read();
switch(ch) {
case '0'...'9':
v = v * 10 + ch - '0';
Serial.println(v);//debug
break;
case 'a': //FWD
forward();
break;
case 'b': //REV
backward();
break;
case 'c': //LEFT
left();
break;
case 'd': //RIGHT
right();
break;
case 'e': //STOP
halt();
break;
}
}
}