Өнгө мэдрэгч

 

Энд дарж кодыг татаж авах

L298N мотор драйвер дээр bluetooth мотор удирдах

 

#define in1 2 //L298n Motor Driver pins.

#define in2 3

#define in3 4

#define in4 5

//#define A 6

//#define B 7

#define LED 13

int command; //Int to store app command state.

int Speed = 204; // 0 - 255.

int Speedsec;

int buttonState = 0;

int lastButtonState = 0;

int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note:the robot will malfunction if this is higher than int Speed.

int brakeTime = 45;

int brkonoff = 1; //1 for the electronic braking system, 0 for normal.

void setup() {

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

   //pinMode(A, OUTPUT);

   // pinMode(B, OUTPUT);

  pinMode(LED, OUTPUT); //Set the LED pin.

  Serial.begin(9600);  //Set the baud rate to your Bluetooth module.

}

void loop() {

 // analogWrite(A,250);

  //analogWrite(B,250);

  if (Serial.available() > 0) {

    command = Serial.read();

    Stop(); //Initialize with motors stoped.

    switch (command) {

      case 'F':

        forward();

        break;

      case 'B':

        back();

        break;

      case 'L':

        left();

        break;

      case 'R':

        right();

        break;

      case 'G':

        forwardleft();

        break;

      case 'I':

        forwardright();

        break;

      case 'H':

        backleft();

        break;

      case 'J':

        backright();

        break;

      case '0':

        Speed = 100;

        break;

      case '1':

        Speed = 140;

        break;

      case '2':

        Speed = 153;

        break;

      case '3':

        Speed = 165;

        break;

      case '4':

        Speed = 178;

        break;

      case '5':

        Speed = 191;

        break;

      case '6':

        Speed = 204;

        break;

      case '7':

        Speed = 216;

        break;

      case '8':

        Speed = 229;

        break;

      case '9':

        Speed = 242;

        break;

      case 'q':

        Speed = 255;

        break;

    }

    Speedsec = Turnradius;

    if (brkonoff == 1) {

      brakeOn();

    } else {

      brakeOff();

    }

  }

}

void forward() {

  analogWrite(in1, Speed);

  analogWrite(in3, Speed);

}

void back() {

  analogWrite(in2, Speed);

  analogWrite(in4, Speed);

}

void left() {

  analogWrite(in1, Speed);

}

void right() {

  analogWrite(in3, Speed);

 

}

void forwardleft() {

  analogWrite(in3, Speedsec);

  analogWrite(in1, Speed);

}

void forwardright() {

  analogWrite(in3, Speed);

  analogWrite(in1, Speedsec);

}

void backright() {

  analogWrite(in4, Speed);

  analogWrite(in2, Speedsec);

}

void backleft() {

  analogWrite(in4, Speedsec);

  analogWrite(in2, Speed);

}

void Stop() {

  analogWrite(in1, 0);

  analogWrite(in2, 0);

  analogWrite(in3, 0);

  analogWrite(in4, 0);

}

void brakeOn() {

  //Here's the future use: an electronic braking system!

  // read the pushbutton input pin:

  buttonState = command;

  // compare the buttonState to its previous state

  if (buttonState != lastButtonState) {

    // if the state has changed, increment the counter

    if (buttonState == 'S') {

      if (lastButtonState != buttonState) {

        digitalWrite(in1, HIGH);

        digitalWrite(in2, HIGH);

        digitalWrite(in3, HIGH);

        digitalWrite(in4, HIGH);

        delay(brakeTime);

        Stop();

      }

    }

    // save the current state as the last state,

    //for next time through the loop

    lastButtonState = buttonState;

  }

}

void brakeOff() {

}

Хуруу мэдэрдэг LED

 #include <CapacitiveSensor.h>

CapacitiveSensor Sensor = CapacitiveSensor(4, 2);

long val;

int pos;

#define led 13

void setup()

{

Serial.begin(9600);

pinMode(led, OUTPUT);

}

void loop()

{

val = Sensor.capacitiveSensor(30);

Serial.println(val);

if (val >= 1000 && pos == 0)

{

digitalWrite(led, HIGH);

pos = 1;

delay(500);

}

else if (val >= 1000 && pos == 1)

{

digitalWrite(led, LOW);

pos = 0;

delay(500);

}

delay(10);

}