Собрали машинку на deek-robot motor shield
залили скетч
- Код: Выделить всё • Развернуть
#define ENA_PIN 3 // ENA attach to pin5
#define ENB_PIN 11// ENB attach to pin6
#define MOTOR_L_1 12 // MOTOR_L_1 attach to pin8
#define MOTOR_L_2 9 // MOTOR_L_1 attach to pin9
#define MOTOR_R_1 13 // MOTOR_R_1 attach to pin10
#define MOTOR_R_2 8 // MOTOR_R_1 attach to pin11
#define FORWARD 0 //define forward=0,car move forward
#define BACK 1 //define back=1,car move back
#define LIGHT_LEFT_1_PIN A0 //attach the left first Tracking module pinA0 to A0
#define LIGHT_LEFT_2_PIN A1 //attach the left second Tracking module pinA0 to A1
#define LIGHT_MIDDLE_PIN A2 //attach the module Tracking module pinA0 to A2
#define LIGHT_RIGHT_1_PIN A3 //attach the right second Tracking module pinA0 to A3
#define LIGHT_RIGHT_2_PIN A4 //attach the right first Tracking module pinA0 to A4
#define SPEED 180 //define SPEED=180,it is the rotate speed of motor
unsigned char flag = 3;
unsigned char angle = 90;
void setup()
{
/* set below pins as OUTPUT */
pinMode(ENA_PIN, OUTPUT);
pinMode(ENB_PIN, OUTPUT);
pinMode(MOTOR_L_1, OUTPUT);
pinMode(MOTOR_L_2, OUTPUT);
pinMode(MOTOR_R_1, OUTPUT);
pinMode(MOTOR_R_2, OUTPUT);
}
void loop()
{
if (analogRead(LIGHT_LEFT_1_PIN) > 758) //if read the value of the left first Tracking module pinA0 is more than 758
flag = 1;//flag=1
else if (analogRead(LIGHT_LEFT_2_PIN) > 758) //if read the value of the left second Tracking module pinA0 is more than 758
flag = 2;
else if (analogRead(LIGHT_MIDDLE_PIN) > 758) //if read the value of the module Tracking module pinA0 is more than 758
flag = 3;
else if (analogRead(LIGHT_RIGHT_2_PIN) > 758) //if read the value of the right second Tracking module pinA0 is more than 758
flag = 4;
else if (analogRead(LIGHT_RIGHT_1_PIN) > 758) //if read the value of the right first Tracking module pinA0 is more than 758
flag = 5;
else
flag = 6;
CAR_move(FORWARD, SPEED, SPEED); //car move forward with speed 180
}
void CAR_move(unsigned char direction, unsigned char speed_left, unsigned char speed_right)
{
switch (direction)
{
//car move forward with speed 180
case 0:
digitalWrite(MOTOR_L_1, HIGH); digitalWrite(MOTOR_L_2, LOW); //left motor clockwise rotation
digitalWrite(MOTOR_R_1, HIGH); digitalWrite(MOTOR_R_2, LOW); break; //right motor clockwise rotation
//car move back with speed 180
case 1:
digitalWrite(MOTOR_L_1, LOW); digitalWrite(MOTOR_L_2, HIGH);
digitalWrite(MOTOR_R_1, LOW); digitalWrite(MOTOR_R_2, HIGH); break;
default: break;
}
analogWrite(ENA_PIN, speed_left); //write speed_left to ENA_PIN,if speed_left is high,allow left motor rotate
analogWrite(ENB_PIN, speed_right); //write speed_right to ENB_PIN,if speed_right is high,allow right motor rotate
}
датчики на линию срабатывают но колёса все время крутятся вперед
подскажите пожалуйста как поправить!
