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- #include <atx.h>
- #define BLACK 300
- #define LEFT_SENSOR 2
- #define RIGHT_SENSOR 3
- #define LFM 0
- #define LBM 1
- #define RFM 5
- #define RBM 4
- void setup()
- {
- sw1_press();
- }
- void loop()
- {
- int left = analogRead (LEFT_SENSOR);
- int right = analogRead (RIGHT_SENSOR);
- if(left < BLACK && right < BLACK)
- {
- motor_stop(ALL);
- }
- else if (left < BLACK)
- {
- turn_left(100,50);
- motor_stop(ALL);
- }
- else if (right < BLACK)
- {
- turn_right(100,50);
- motor_stop(ALL);
- }
- else
- {
- go_forward(10,100);
- motor_stop(ALL);
- }
- }
- void go_forward(int power,int ms)
- {
- motor(LFM,power);
- motor(LBM,power);
- motor(RFM,power);
- motor(RBM,power);
- delay(ms);
- motor_stop(ALL);
- }
- void turn_right(int power,int ms)
- {
- motor(LFM,power);
- motor(LBM,power);
- motor(RFM,-power);
- motor(RBM,-power);
- delay(ms);
- motor_stop(ALL);
- }
- void turn_left(int power,int ms)
- {
- motor(LFM,-power);
- motor(LBM,-power);
- motor(RFM,power);
- motor(RBM,power);
- delay(ms);
- motor_stop(ALL);
- }
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