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- // Motor Port
- int E1 = 6;
- int M1 = 9;
- int E2 = 10;
- int M2 = 11;
- void setup() {
- Serial.begin(9600);
- pinMode(M1, OUTPUT);
- pinMode(M2, OUTPUT);
- }
- void loop() {
- if (Serial.available()) {
- char input = Serial.read();
- if(input == '4') {
- turnLeft();
- } else if (input =='8') {
- goAhead();
- } else if (input =='6') {
- turnRight();
- } else if (input =='2') {
- goBack();
- } else if(input == '5') {
- stopTurning();
- }
- }
- // goAhead();
- // delay(2000);
- // turnLeft();
- // delay(2000);
- // turnRight();
- // delay(2000);
- // goAhead();
- // delay(2000);
- }
- void goAhead() {
- stopTurning();
- analogWrite(E1, 191);
- analogWrite(M2, 191);
- }
- void goBack() {
- stopTurning();
- analogWrite(M1, 191);
- analogWrite(E2, 191);
- }
- void turnLeft() {
- stopTurning();
- analogWrite(E1, 0);
- // analogWrite(M1,191);
- analogWrite(M2, 191);
- }
- void turnRight() {
- stopTurning();
- analogWrite(E1, 191);
- // analogWrite(E2, 191);
- analogWrite(M2, 0);
- }
- void stopTurning() {
- analogWrite(M1,0);
- analogWrite(M2,0);
- analogWrite(E1, 0);
- analogWrite(E2, 0);
- }
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