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- #include <PRIZM.h>
- PRIZM prizm;
- void setup() {
- prizm.PrizmBegin();
- prizm.setMotorInvert(1, 1);
- prizm.setServoSpeed(6, 25); /// скорость серво-привода
- }
- void driveforaline() {
- if (prizm.readLineSensor(3) == 1) {
- prizm.setMotorPowers(0, -80);
- prizm.setRedLED(LOW);
- }
- if (prizm.readLineSensor(3) == 0) {
- prizm.setMotorPowers(-80, 0);
- prizm.setRedLED(HIGH);
- }
- }
- void driveforawall() {
- if (prizm.readSonicSensorCM(4) < 15) {
- prizm.setServoPosition(6, 180);
- delay(2000);
- prizm.setServoPosition(6, 0);
- delay(2000);
- prizm.setMotorPowers(50,50);
- prizm.setMotorPowers(80,-80);
- }
- else {
- driveforaline();
- }
- }
- void loop() {
- driveforawall();
- }
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