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Maxime591993

Arduino - Linieverfolgen_weiß

Dec 9th, 2019
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  1. #include <stdio.h>
  2.  
  3.  
  4.  
  5. int motorl = 9;  //Motor Links Vorwärts
  6. int motorr = 3;  //Motor Rechts Vorwärts
  7. int motorlr = 6; //Motor links Rückwärts
  8. int motorrr = 5; //Motor Rechts Rückwärts
  9. int sensorl = A2; //Sensorwert
  10. int sensorr = A1; //Sensorwert
  11. int forward = 190; //Geschwindigkeit
  12. int turn = 150; //Geschwindigkeit
  13. int mit = 100; //mit Drehgeschwindigkeit
  14. int low = 0;
  15. int back = 140;
  16. int full = 255;
  17. int forw = 120;
  18.  
  19.  
  20.  
  21. void setup() {
  22.   // put your setup code here, to run once:
  23.   pinMode(motorl, OUTPUT);
  24.   pinMode(motorr, OUTPUT);
  25.   pinMode(motorlr, OUTPUT);
  26.   pinMode(motorrr, OUTPUT);
  27.   pinMode(sensorl, INPUT);
  28.   pinMode(sensorr, INPUT);
  29.  
  30. }
  31.  
  32. void loop() {
  33.   // put your main code here, to run repeatedly:
  34. int helligkeitl = analogRead(sensorl);
  35. int helligkeitr = analogRead(sensorr);
  36.  
  37. if ((helligkeitl >1000 && helligkeitr >1000) && (!helligkeitl <100 && !helligkeitr <100))
  38. {
  39. analogWrite(motorl, low);
  40. analogWrite(motorr, low);
  41. analogWrite(motorlr, back);
  42. analogWrite(motorrr, back);
  43. delay(850);
  44. }else if((helligkeitl <750 && helligkeitl <=1000) && (helligkeitr <750 && helligkeitr <=1000))
  45. {
  46. analogWrite(motorl, forward);
  47. analogWrite(motorr, forward);
  48. analogWrite(motorlr, low);
  49. analogWrite(motorrr, low);
  50. delay(1);
  51. }
  52. if((helligkeitl <800 && helligkeitl <=990) && (helligkeitr >800 && helligkeitr <=990))
  53. {
  54. analogWrite(motorl, forw);
  55. analogWrite(motorr, mit);
  56. analogWrite(motorlr, low);
  57. analogWrite(motorrr, low);
  58. delay(25);  
  59. analogWrite(motorl, mit);
  60. analogWrite(motorr, low);
  61. analogWrite(motorlr, low);
  62. analogWrite(motorrr, back);
  63. delay(80);
  64. analogWrite(motorl, turn);
  65. analogWrite(motorr, low);
  66. analogWrite(motorlr, low);
  67. analogWrite(motorrr, turn);
  68. delay(150);
  69. }
  70. if((helligkeitl >800 && helligkeitl <=990) && (helligkeitr <800 && helligkeitr <=990))
  71. {
  72. analogWrite(motorl, mit);
  73. analogWrite(motorr, forw);
  74. analogWrite(motorlr, low);
  75. analogWrite(motorrr, low);
  76. delay(25);  
  77. analogWrite(motorl, low);
  78. analogWrite(motorr, mit);
  79. analogWrite(motorlr, back);
  80. analogWrite(motorrr, low);
  81. delay(80);
  82. analogWrite(motorl, low);
  83. analogWrite(motorr, turn);
  84. analogWrite(motorlr, turn);
  85. analogWrite(motorrr, low);
  86. delay(150);
  87. }
  88. if((helligkeitl <990 && helligkeitr <990) && (helligkeitl > 700 && helligkeitr > 700) && (helligkeitl > helligkeitr))
  89. {
  90. analogWrite(motorl, low); //originalwerte helligkeit 980 ; 800
  91. analogWrite(motorr, low);
  92. analogWrite(motorlr, low);
  93. analogWrite(motorrr, low);
  94. delay(1000);
  95. analogWrite(motorl, low);
  96. analogWrite(motorr, turn);
  97. analogWrite(motorlr, turn);
  98. analogWrite(motorrr, low);
  99. delay(350);
  100. }
  101. if((helligkeitl <980 && helligkeitr <980) && (helligkeitl > 800 && helligkeitr > 800) && (helligkeitl < helligkeitr))
  102. {
  103. analogWrite(motorl, low);
  104. analogWrite(motorr, low);
  105. analogWrite(motorlr, low);
  106. analogWrite(motorrr, low);
  107. delay(1000);  
  108. analogWrite(motorl, turn);
  109. analogWrite(motorr, low);
  110. analogWrite(motorlr, low);
  111. analogWrite(motorrr, turn);
  112. delay(350);
  113. }
  114. if(helligkeitl >1000)
  115. {
  116. analogWrite(motorl, low);
  117. analogWrite(motorr, low);
  118. analogWrite(motorlr, full);
  119. analogWrite(motorrr, low);
  120. delay(150);
  121. analogWrite(motorl, low);
  122. analogWrite(motorr, low);
  123. analogWrite(motorlr, back);
  124. analogWrite(motorrr, back);
  125. delay(50);
  126. }
  127. if(helligkeitr >1000)
  128. {
  129. analogWrite(motorl, low);
  130. analogWrite(motorr, low);
  131. analogWrite(motorlr, low);
  132. analogWrite(motorrr, full);
  133. delay(150);
  134. analogWrite(motorl, low);
  135. analogWrite(motorr, low);
  136. analogWrite(motorlr, back);
  137. analogWrite(motorrr, back);
  138. delay(50);
  139. }
  140. }
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