-
Notifications
You must be signed in to change notification settings - Fork 0
/
bt-car.ino
125 lines (112 loc) · 2.03 KB
/
bt-car.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
#define L1 2
#define L2 3
#define R1 4
#define R2 5
#define PL 9
#define PR 10
#define echoPin 12
#define trigPin 13
#define Laser 7
#define BT 11
#define Red A0
#define Gre A1
int t_signal = 5;
int t_delay = 100;
String st = "";
void setup() {
pinMode(L1, OUTPUT);
pinMode(L2, OUTPUT);
pinMode(R1, OUTPUT);
pinMode(R2, OUTPUT);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(Laser, OUTPUT);
pinMode(Red, OUTPUT);
pinMode(Gre, OUTPUT);
pinMode(BT, OUTPUT);
Serial.begin(9600);
}
void Forward() {
digitalWrite(L1, HIGH);
digitalWrite(L2, LOW);
digitalWrite(R1, HIGH);
digitalWrite(R2, LOW);
}
void Back() {
digitalWrite(L1, LOW);
digitalWrite(L2, HIGH);
digitalWrite(R1, LOW);
digitalWrite(R2, HIGH);
}
void Stop() {
digitalWrite(L1, LOW);
digitalWrite(L2, LOW);
digitalWrite(R1, LOW);
digitalWrite(R2, LOW);
}
void Turn(int angle) {
if (angle > 0) {
digitalWrite(L1, HIGH);
digitalWrite(L2, LOW);
digitalWrite(R1, LOW);
digitalWrite(R2, HIGH);
} else {
digitalWrite(L1, LOW);
digitalWrite(L2, HIGH);
digitalWrite(R1, HIGH);
digitalWrite(R2, LOW);
};
delay(abs(angle*22));
Stop();
}
void Left() {
digitalWrite(L1, LOW);
digitalWrite(L2, HIGH);
digitalWrite(R1, HIGH);
digitalWrite(R2, LOW);
}
void Right() {
digitalWrite(L1, HIGH);
digitalWrite(L2, LOW);
digitalWrite(R1, LOW);
digitalWrite(R2, HIGH);
}
void Power(float p) {
analogWrite(PL, p * 1024);
analogWrite(PR, p * 1024);
}
void Laser_ON() {
digitalWrite(Laser, HIGH);
}
void Laser_OFF() {
digitalWrite(Laser, LOW);
}
void Fire(int Fire_t) {
Laser_ON();
delay(Fire_t);
Laser_OFF();
}
void loop() {
char c;
while(Serial.available()) {
c = Serial.read();
Serial.println(c);
st += c;
delay(3);
};
switch(c) {
case '8': Forward();
break;
case '6': Right();
break;
case '4': Left();
break;
case '2': Back();
break;
case '5': Fire(t_signal);
break;
case '0': Stop();
break;
}
c = 0;
}