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- #include <Servo.h>
- //int simpleCount;
- //int headTimer;
- int distStep;
- Servo neck;
- const int ledPin = 2;
- int mode; // Режим работы 0 - автоматический, 1 - ручной, 2 - смешанный
- const int Trig_pin = 2; // Подключаем сенсор расстояния к цифровому портам 2 и 3
- const int Echo_pin = 3;
- const int bLSensor_1 = 12; // Подключаем датчики чёрной линии к портам 8,9,10;
- const int bLSensor_2 = 11;
- const int bLSensor_3 = 10;
- const int IR_RECV_PIN = A3;
- const int OFF_BUTTON_CODE = 0xFD00FF;//FD00FF
- Servo leftWheel;
- Servo rightWheel;
- //IRrecv irReceiver(IR_RECV_PIN);
- //#include "Ultrasonic.h"
- // ------------------------- Legs -----------------------------
- const int loopRestart = 10;
- void setup() {
- // Serial.begin(38400);
- // Serial.begin(57600);
- //pinMode(A0, OUTPUT);
- mode = 0;
- leftWheel.attach(5);
- rightWheel.attach(4);
- leftWheel.write(180);
- rightWheel.write(0);
- pinMode(bLSensor_1,INPUT);
- pinMode(bLSensor_2,INPUT);
- pinMode(bLSensor_3,INPUT);
- neck.attach(4);
- neck.write(90);
- pinMode(Trig_pin, OUTPUT);
- pinMode(Echo_pin, INPUT);
- // analogWrite(ledPin,LOW);
- distStep = 0;
- }
- void loop(){
- if(digitalRead(bLSensor_2) == LOW && digitalRead(bLSensor_1) == HIGH &&digitalRead(bLSensor_3) == HIGH){
- leftWheel.write(180);
- rightWheel.write(0);
- }
- if(digitalRead(bLSensor_2) == LOW && digitalRead(bLSensor_1) == LOW &&digitalRead(bLSensor_3) == LOW){
- leftWheel.write(90);
- rightWheel.write(90);
- }
- else {
- if(digitalRead(bLSensor_1) == LOW){
- leftWheel.write(90);
- rightWheel.write(0);
- }
- if(digitalRead(bLSensor_3 ) == LOW){
- leftWheel.write(180);
- rightWheel.write(90);
- }}
- }
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