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Movimiento_Angular.ino
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Movimiento_Angular.ino
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void movimientoAngular(int x){
if(variablePasada != x){
digitalWrite(pm1_a,LOW);
digitalWrite(pm2_a,LOW);
digitalWrite(pm3_a,LOW);
digitalWrite(pm1_r,LOW);
digitalWrite(pm2_r,LOW);
digitalWrite(pm3_r,LOW);
v1=200;
v2=200;
v3=200;
delayMicroseconds(100);
switch(x){
case 1: //Adelante
digitalWrite(pm3_a,HIGH);
digitalWrite(pm1_r,HIGH);
break;
case 2: //Adelante a la izquierda
digitalWrite(pm2_a,HIGH);
digitalWrite(pm1_r,HIGH);
break;
case 3: //A la izquierda
digitalWrite(pm1_a,LOW);
digitalWrite(pm2_a,HIGH);
digitalWrite(pm3_a,LOW);
digitalWrite(pm1_r,HIGH);
digitalWrite(pm2_r,LOW);
digitalWrite(pm3_r,HIGH);
break;
case 4: //Atras a la izquierda
digitalWrite(pm1_a,LOW);
digitalWrite(pm2_a,HIGH);
digitalWrite(pm3_a,LOW);
digitalWrite(pm1_r,LOW);
digitalWrite(pm2_r,LOW);
digitalWrite(pm3_r,HIGH);
break;
case 5: //Atras
digitalWrite(pm1_a,HIGH);
digitalWrite(pm3_r,HIGH);
break;
case 6: //Atras a la derecha
digitalWrite(pm1_a,HIGH);
digitalWrite(pm2_r,HIGH);
break;
case 7: //Derecha
digitalWrite(pm1_a,HIGH);
digitalWrite(pm2_a,LOW);
digitalWrite(pm3_a,HIGH);
digitalWrite(pm1_r,LOW);
digitalWrite(pm2_r,HIGH);
digitalWrite(pm3_r,LOW);
break;
case 8: //Adelante a la derecha
digitalWrite(pm3_a,HIGH);
digitalWrite(pm2_r,HIGH);
break;
case 98: //Girar a la izquierda
v1=200;
v2=200;
v3=200;
digitalWrite(pm1_a,LOW);
digitalWrite(pm2_a,LOW);
digitalWrite(pm3_a,LOW);
digitalWrite(pm1_r,HIGH);
digitalWrite(pm2_r,HIGH);
digitalWrite(pm3_r,HIGH);
break;
case 99: //Girar a la derecha
v1=200;
v2=200;
v3=200;
digitalWrite(pm1_a,HIGH);
digitalWrite(pm2_a,HIGH);
digitalWrite(pm3_a,HIGH);
digitalWrite(pm1_r,LOW);
digitalWrite(pm2_r,LOW);
digitalWrite(pm3_r,LOW);
break;
}
}
variablePasada = x;
}