roboforum.ru

#include <AFMotor.h> //Link library for working with shield

 // Plug motors to the terminal blocks M1, M2, M3, M4
 AF_DCMotor motor1(1);
 AF_DCMotor motor2(2);
 AF_DCMotor motor3(3);
 AF_DCMotor motor4(4);
 unsigned long duration;
 void setup(){
 // Set the maximum speed of the motor (similar work PWM)
 motor1.setSpeed(255);
 motor1.run(RELEASE);
 motor2.setSpeed(255);
 motor2.run(RELEASE);
 motor3.setSpeed(255);
 motor3.run(RELEASE);
 motor4.setSpeed(255);
 motor4.run(RELEASE);
 pinMode(12, INPUT);
 pinMode(13, INPUT);
 }

 void loop(){

   if (duration = pulseIn(12, HIGH)) 
 {
//moving forward
 motor1.run(FORWARD); // Ask moving forward
 motor2.run(FORWARD);
 motor3.run(FORWARD);
 motor4.run(FORWARD);
 motor1.setSpeed(100); // Set the speed
 motor2.setSpeed(100);
 motor3.setSpeed(100);
 motor4.setSpeed(100);
 }
 else
 {
// move left
 motor1.run(BACKWARD); // Ask moving forward 2 motors
 motor4.run(BACKWARD);
 motor2.run(FORWARD);
 motor3.run(FORWARD);
 motor1.setSpeed(100); // Set the speed
 motor4.setSpeed(100);
 motor2.setSpeed(100);
 motor3.setSpeed(100);
 }
  if (duration = pulseIn(13, HIGH)) 
 {
//moving forward
 motor1.run(FORWARD); // Ask moving forward
 motor2.run(FORWARD);
 motor3.run(FORWARD);
 motor4.run(FORWARD);
 motor1.setSpeed(100); // Set the speed
 motor2.setSpeed(100);
 motor3.setSpeed(100);
 motor4.setSpeed(100);
 }
 else
 {
// move right
 motor1.run(FORWARD); // Ask moving forward 2 motors
 motor4.run(FORWARD);
 motor2.run(BACKWARD);
 motor3.run(BACKWARD);
 motor1.setSpeed(100); // Set the speed
 motor4.setSpeed(100);
 motor2.setSpeed(100);
 motor3.setSpeed(100);
 }
    
 }