GiocattolINO

1#include <NewPing.h>
2  
3int motor_left_f = 5;  // Pin  in1 of L298
4int
5  motor_left_b = 6;  // Pin  in2 of L298
6int motor_right_f  = 10;  // Pin in3 of
7  L298
8int motor_right_b  = 11;  // Pin in4 of L298 
9int state;
10int vSpeed=200;
11int
12  LED = 13;
13#define TRIGGER_PIN  12
14#define ECHO_PIN     8
15#define MAX_DISTANCE
16  200
17NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); 
18
19void setup()
20  {
21  pinMode(motor_left_f, OUTPUT);
22  pinMode(motor_left_b, OUTPUT);
23  pinMode(motor_right_f,
24  OUTPUT);
25  pinMode(motor_right_b, OUTPUT);
26  pinMode(LED, OUTPUT);
27  Serial.begin(9600);
28}
29
30  
31void loop() {
32    if (sonar.ping_cm() < 50){
33      digitalWrite(LED, HIGH);
34
35    }
36    else{
37      digitalWrite(LED, LOW);
38    }
39    if(Serial.available()
40  > 0){     
41      state = Serial.read();  
42      Stop(); 
43    }
44  /***********************forward****************************/
45
46    if (state == 'F') {
47      analogWrite(motor_left_f, 200); 
48      analogWrite(motor_left_b,
49  0);
50      analogWrite(motor_right_f, 200);      
51      analogWrite(motor_right_b,
52  0); 
53    }
54  /***********************backward****************************/
55
56    else if (state == 'B') {
57      analogWrite(motor_left_f, 0);   
58      analogWrite(motor_left_b,
59  200); 
60      analogWrite(motor_right_f, 0);  
61      analogWrite(motor_right_b,
62  200); 
63    }
64  /***************************left*****************************/
65
66    else if (state == 'L') {
67      analogWrite(motor_left_f, 0);    
68      analogWrite(motor_left_b,
69  0); 
70      analogWrite(motor_right_f, 200); 
71      analogWrite(motor_right_b,
72  0); 
73    }
74  /***************************right*****************************/
75
76    else if (state == 'R') {
77      analogWrite(motor_left_f, 200);   
78      analogWrite(motor_left_b,
79  0); 
80      analogWrite(motor_right_f, 0);   
81      analogWrite(motor_right_b,
82  0);     
83    }
84      /***************************forward left*****************************/
85
86    else if (state == 'G') {
87      analogWrite(motor_left_f, 100);    
88      analogWrite(motor_left_b,
89  0); 
90      analogWrite(motor_right_f, 200); 
91      analogWrite(motor_right_b,
92  0); 
93    }
94  /***************************forward rght*****************************/
95
96    else if (state == 'I') {
97      analogWrite(motor_left_f, 200);   
98      analogWrite(motor_left_b,
99  0); 
100      analogWrite(motor_right_f, 100);   
101      analogWrite(motor_right_b,
102  0);     
103    }
104  /************************Stop*****************************/
105
106    else if (state == 'P'){
107        analogWrite(motor_right_f, 0);  
108        analogWrite(motor_right_b,
109  0); 
110        analogWrite(motor_left_f, 0);  
111        analogWrite(motor_left_b,
112  0);      
113    }
114}
115void Stop() {
116  analogWrite(motor_right_f, 0);    
117
118  analogWrite(motor_right_b, 0); 
119  analogWrite(motor_left_f, 0); 
120  analogWrite(motor_left_b,
121  0);
122}
123

1#include <NewPing.h>
2  
3int motor_left_f = 5;  // Pin  in1 of L298
4int  motor_left_b = 6;  // Pin  in2 of L298
5int motor_right_f  = 10;  // Pin in3 of  L298
6int motor_right_b  = 11;  // Pin in4 of L298 
7int state;
8int vSpeed=200;
9int  LED = 13;
10#define TRIGGER_PIN  12
11#define ECHO_PIN     8
12#define MAX_DISTANCE  200
13NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); 
14
15void setup()  {
16  pinMode(motor_left_f, OUTPUT);
17  pinMode(motor_left_b, OUTPUT);
18  pinMode(motor_right_f,  OUTPUT);
19  pinMode(motor_right_b, OUTPUT);
20  pinMode(LED, OUTPUT);
21  Serial.begin(9600);
22}
23  
24void loop() {
25    if (sonar.ping_cm() < 50){
26      digitalWrite(LED, HIGH);
27    }
28    else{
29      digitalWrite(LED, LOW);
30    }
31    if(Serial.available()  > 0){     
32      state = Serial.read();  
33      Stop(); 
34    }
35  /***********************forward****************************/
36    if (state == 'F') {
37      analogWrite(motor_left_f, 200); 
38      analogWrite(motor_left_b,  0);
39      analogWrite(motor_right_f, 200);      
40      analogWrite(motor_right_b,  0); 
41    }
42  /***********************backward****************************/
43    else if (state == 'B') {
44      analogWrite(motor_left_f, 0);   
45      analogWrite(motor_left_b,  200); 
46      analogWrite(motor_right_f, 0);  
47      analogWrite(motor_right_b,  200); 
48    }
49  /***************************left*****************************/
50    else if (state == 'L') {
51      analogWrite(motor_left_f, 0);    
52      analogWrite(motor_left_b,  0); 
53      analogWrite(motor_right_f, 200); 
54      analogWrite(motor_right_b,  0); 
55    }
56  /***************************right*****************************/
57    else if (state == 'R') {
58      analogWrite(motor_left_f, 200);   
59      analogWrite(motor_left_b,  0); 
60      analogWrite(motor_right_f, 0);   
61      analogWrite(motor_right_b,  0);     
62    }
63      /***************************forward left*****************************/
64    else if (state == 'G') {
65      analogWrite(motor_left_f, 100);    
66      analogWrite(motor_left_b,  0); 
67      analogWrite(motor_right_f, 200); 
68      analogWrite(motor_right_b,  0); 
69    }
70  /***************************forward rght*****************************/
71    else if (state == 'I') {
72      analogWrite(motor_left_f, 200);   
73      analogWrite(motor_left_b,  0); 
74      analogWrite(motor_right_f, 100);   
75      analogWrite(motor_right_b,  0);     
76    }
77  /************************Stop*****************************/
78    else if (state == 'P'){
79        analogWrite(motor_right_f, 0);  
80        analogWrite(motor_right_b,  0); 
81        analogWrite(motor_left_f, 0);  
82        analogWrite(motor_left_b,  0);      
83    }
84}
85void Stop() {
86  analogWrite(motor_right_f, 0);    
87  analogWrite(motor_right_b, 0); 
88  analogWrite(motor_left_f, 0); 
89  analogWrite(motor_left_b,  0);
90}
91