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Update final_command_comtrol.ino #6

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Update final_command_comtrol.ino #6

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86 changes: 21 additions & 65 deletions Codes/final_command_comtrol.ino
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
#include <string.h>

int enA = 10;
int in1 = 9;
int in2 = 8;
int enB = 11;
int in3 = 13;
int in4 = 12;
char serial_data;
String serial_data;
bool emr_stop = true;

void setup() {
Serial.begin(9600);
pinMode(enA, OUTPUT);
Expand All @@ -16,97 +16,53 @@ void setup() {
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
Serial.print("Connected to e-two\n");

if (Serial.available());
Serial.print("Connected to e-two\n");
}

void loop() {
if (Serial.available()) {
serial_data = Serial.readString();
Serial.println(serial_data);
}

if (serial_data == 'on') {
forward();
Serial.println("Going Forward");
}



//////////////////////////////////////////////////////
void loop() {
if (Serial.available()) {
serial_data = Serial.read();
Serial.println(serial_data);
}

if (serial_data == '1')
demoone();

if (serial_data == '2')
{
if (serial_data == 'off') {
emr_stop = false;
stop();
emr_stop = true;
emr_stop = true;
Serial.println("Stopping!");
}



}

void forward() {

void demoone() {
//Activate motor A
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
//analogWrite(enA, 200); //set speed to 200

//Activate motor B
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
//analogWrite(enB, 200); //set speed to 200



for (int i = 0; i < 255; i++) {

if (emr_stop == true){
analogWrite(enA, i);
analogWrite(enB, i);
delay(30);
}

}

// delay(2000);
// // تغییر مسیر موتورها
// digitalWrite(in1, LOW); // غیر فعال شدن خروجی IN1
// digitalWrite(in2, HIGH); // فعال شدن خروجی IN2
// digitalWrite(in3, LOW); // غیر فعال شدن خروجی IN3
// digitalWrite(in4, HIGH); // فعال شدن خروجی IN4
// delay(2000); // تاخیر ۲ ثانیه
// // خاموش شدن هر دو موتور
// digitalWrite(in1, LOW); // غیر فعال شدن
// digitalWrite(in2, LOW); // غیر فعال شدن
// digitalWrite(in3, LOW); // غیر فعال شدن
// digitalWrite(in4, LOW); // غیر فعال شدن
}


void forward() {
// روشن شدن موتورها
digitalWrite(in1, LOW); // غیر فعال شدن خروجی IN1
digitalWrite(in2, HIGH); // فعال شدن خروجی IN2
digitalWrite(in3, LOW); // غیر فعال شدن خروجی IN3
digitalWrite(in4, HIGH); // فعال شدن خروجی IN4
// تعیین شتاب از ۰ تا ماکزیمم سرعت
for (int i = 0; i < 255; i++) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
}


void stop() {
digitalWrite(in1, LOW); // غیر فعال شدن
digitalWrite(in2, LOW); // غیر فعال شدن

digitalWrite(in3, LOW); // غیر فعال شدن
digitalWrite(in4, LOW); // غیر فعال شدن
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);

// از ماکزیمم سرعت تا صفر
for (int i = 255; i >= 0; i--) {
analogWrite(enA, i);
analogWrite(enB, i);
Expand Down