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- #define SE A4 //sensor esq
- #define SDir A5 //esnsor d
- #define rodaEsq 11
- #define rodaDir 3
- int maxMotor = 110; //na tomada 60
- int minMotor = 0; // na tomada 30
- int LIMIAR = 200;
- int x = 0;
- int y = 0;
- // 11 -> direita e devagar
- // Lendo o sensor de cor
- void setup() {
- // put your setup code here, to run once:
- Serial.begin(9600);
- pinMode(12,OUTPUT); /* Motor */
- pinMode(13,OUTPUT); /* Motor */
- pinMode(rodaDir,OUTPUT); /* Roda direita */
- pinMode(rodaEsq,OUTPUT); /* Roda esquerda */
- pinMode(SDir,INPUT); /*Sensor direita*/
- pinMode(SE,INPUT); /*Sensor esquerda*/
- digitalWrite(12,LOW);
- digitalWrite(13,LOW);
- analogWrite(rodaEsq, 255);
- analogWrite(rodaDir, 255);
- delay(30);
- }
- void loop() {
- Serial.print("Sensor Esq.: ");
- Serial.print(analogRead(SE));
- Serial.print(" | Sensor Dir.: ");
- Serial.println(analogRead(SDir));
- if(analogRead(SE)<LIMIAR && analogRead(SDir)<LIMIAR){ //se os 2 tiver no branco
- analogWrite(rodaEsq, maxMotor);
- analogWrite(rodaDir, maxMotor);
- } else if (analogRead(SE)>LIMIAR){ //carrinho vai pra direita
- analogWrite(rodaDir, maxMotor);
- analogWrite(rodaEsq, minMotor);
- } else if (analogRead(SDir)>LIMIAR){ //carrinho vai pra esquerda
- analogWrite(rodaEsq, maxMotor);
- analogWrite(rodaDir, minMotor);
- }
- delay(5);
- }
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