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| 1 | - | // Rev3 Xbee ena |
| 1 | + | // Rev3 Xbee enabled |
| 2 | ||
| 3 | //MOTOR1 RIGHT | |
| 4 | ||
| 5 | int M1_IN1 = 11; | |
| 6 | int M1_IN2 = 10; | |
| 7 | ||
| 8 | //MOTOR2 LEFT | |
| 9 | ||
| 10 | int M2_IN1 = 9; | |
| 11 | int M2_IN2 = 3; | |
| 12 | ||
| 13 | int incomingByte = 0; | |
| 14 | ||
| 15 | // the setup routine runs once when you press reset: | |
| 16 | void setup() {
| |
| 17 | pinMode(M1_IN1, OUTPUT); | |
| 18 | pinMode(M1_IN2, OUTPUT); | |
| 19 | ||
| 20 | pinMode(M2_IN1, OUTPUT); | |
| 21 | pinMode(M2_IN2, OUTPUT); | |
| 22 | ||
| 23 | Serial.begin(9600); | |
| 24 | off(); | |
| 25 | } | |
| 26 | ||
| 27 | // the loop routine runs over and over again forever: | |
| 28 | void loop() {
| |
| 29 | if (Serial.available() > 0) {
| |
| 30 | // read the incoming byte: | |
| 31 | incomingByte = Serial.read(); | |
| 32 | // say what you got: | |
| 33 | Serial.println("I received: ");
| |
| 34 | Serial.write(incomingByte); | |
| 35 | if(incomingByte=='w'){
| |
| 36 | forward(); | |
| 37 | } | |
| 38 | if (incomingByte=='s'){
| |
| 39 | reverse(); | |
| 40 | } | |
| 41 | if(incomingByte=='q') | |
| 42 | off(); | |
| 43 | } | |
| 44 | if(incomingByte=='d'){
| |
| 45 | right(); | |
| 46 | } | |
| 47 | if(incomingByte=='a'){
| |
| 48 | left(); | |
| 49 | } | |
| 50 | ||
| 51 | } | |
| 52 | ||
| 53 | ||
| 54 | void forward(){
| |
| 55 | digitalWrite(M1_IN2,LOW); | |
| 56 | analogWrite(M1_IN1,-200); | |
| 57 | ||
| 58 | digitalWrite(M2_IN2,LOW); | |
| 59 | analogWrite(M2_IN1,-200); | |
| 60 | ||
| 61 | } | |
| 62 | ||
| 63 | void reverse(){
| |
| 64 | ||
| 65 | digitalWrite(M1_IN1,LOW); | |
| 66 | analogWrite(M1_IN2,220); | |
| 67 | ||
| 68 | digitalWrite(M2_IN1,LOW); | |
| 69 | analogWrite(M2_IN2,220); | |
| 70 | ||
| 71 | } | |
| 72 | ||
| 73 | void off(){
| |
| 74 | digitalWrite(M1_IN1,HIGH); | |
| 75 | digitalWrite(M1_IN2,HIGH); | |
| 76 | ||
| 77 | digitalWrite(M2_IN1,HIGH); | |
| 78 | digitalWrite(M2_IN2,HIGH); | |
| 79 | } | |
| 80 | ||
| 81 | void right(){
| |
| 82 | digitalWrite(M1_IN2,LOW); | |
| 83 | analogWrite(M1_IN1,-200); | |
| 84 | ||
| 85 | digitalWrite(M2_IN1,HIGH); | |
| 86 | digitalWrite(M2_IN2,HIGH); | |
| 87 | } | |
| 88 | ||
| 89 | void left(){
| |
| 90 | digitalWrite(M2_IN2,LOW); | |
| 91 | analogWrite(M2_IN1,-200); | |
| 92 | ||
| 93 | digitalWrite(M1_IN1,HIGH); | |
| 94 | digitalWrite(M1_IN2,HIGH); | |
| 95 | } |
