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Low Bot » revision_damien.ino

Thomas Coment, 23/11/2020 15:24

 
#define captD 2
#define captG 3
#define enA 5
#define in1 6
#define in2 7
#define in3 8
#define in4 9
#define enB 10
#define Echo 11
#define Trig 12
#define minDistance 40
#define fastSpeed 0.6f;
#define slowSpeed 0.4f;
int valcaptG;
int valcaptD;
int oldcaptG;
int oldcaptD;

float rw;
float lw;
float distance;

void setup()
{
pinMode(Echo, INPUT);
pinMode(captD, INPUT);
pinMode(captG, INPUT);

pinMode(Trig, OUTPUT);
pinMode(enA, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
digitalWrite(Trig, LOW);
analogWrite(enA, 0);
analogWrite(enB, 0);

float rw = 0;
float lw = 0;
oldcaptG = 2;
oldcaptD = 2;
delay(1000);
}

void loop()
{
digitalWrite(Trig, HIGH);
delayMicroseconds(10);
digitalWrite(Trig, LOW);
distance = pulseIn(Echo, HIGH)*17/1000;

if (distance < minDistance)
return;
valcaptD = digitalRead(captD);
valcaptG = digitalRead(captG);

if (oldcaptD != valcaptD)
{
if (valcaptD)
{
rw = fastSpeed;
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
}
else
{
rw = slowSpeed;
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
}
}
oldcaptD = valcaptD;

if (oldcaptG != valcaptG)
{
if (valcaptG)
{
lw = fastSpeed;
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
}
else
{
lw = slowSpeed;
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
}
}
oldcaptG = valcaptG;
analogWrite(enA, 255 * lw);
analogWrite(enB, 255 * rw);
}
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