#autobot.ino

Dernière modification : -

const short int BUILTIN_LED2 = 16; #include <NewPing.h> NewPing sonar(D6, D7, 100); void stop(void) { analogWrite(5, 0); analogWrite(4, 0); } void forward(void) { analogWrite(5, 1024); analogWrite(4, 1024); digitalWrite(0, HIGH); digitalWrite(2, HIGH); } void backward(void) { analogWrite(5, 1023); analogWrite(4, 1023); digitalWrite(0, LOW); digitalWrite(2, LOW); } void left(void) { analogWrite(5, 1023); analogWrite(4, 1023); digitalWrite(0, LOW); digitalWrite(2, HIGH); } void right(void) { analogWrite(5, 1023); analogWrite(4, 1023); digitalWrite(0, HIGH); digitalWrite(2, LOW); } void setup() { Serial.begin(115200); pinMode(BUILTIN_LED2, OUTPUT); digitalWrite(BUILTIN_LED2, LOW); pinMode(5, OUTPUT); // 1,2EN aka D1 pwm left pinMode(4, OUTPUT); // 3,4EN aka D2 pwm right pinMode(0, OUTPUT); // 1A,2A aka D3 pinMode(2, OUTPUT); // 3A,4A aka D4 } void loop() { delay(50); Serial.print("Ping: "); Serial.print(sonar.ping_cm()); Serial.println("cm"); if (sonar.ping_cm() > 20) { forward(); delay(300); } else { stop(); backward(); delay(600); } }