Omega

1#include <Servo.h> 
2
3Servo servo1;
4Servo servo2;
5Servo servo3;
6Servo  servo4;
7int OMEGA=13;
8int FLECHA=12;
9
10int in1 = 22; 
11int in2 = 23;  
12int in3 = 24; 
13int in4 = 25; 
14
15int en1 = 14; 
16int en2 = 15; 
17
18int  incomingByte; 
19void setup() {
20
21 
22 pinMode(in1, OUTPUT);
23 pinMode(in2,  OUTPUT);
24 pinMode(in3, OUTPUT);
25 pinMode(in4, OUTPUT);
26 pinMode(en1, OUTPUT);
27  pinMode(en2, OUTPUT);
28  pinMode(OMEGA, OUTPUT);
29  pinMode(FLECHA, OUTPUT);
30
31servo1.attach(2);
32servo2.attach(3);
33servo3.attach(4);
34servo4.attach(5);
35digitalWrite(FLECHA,  HIGH);
36servo1.write(90);  //ready
37servo2.write(10);  //ready
38servo3.write(90);  //ready
39servo4.write(170);  //ready
40 digitalWrite(OMEGA, HIGH);   // tO
41
42
43
44  Serial.begin(9600);
45}
46void loop() {
47 
48 if (Serial.available()) {
49
50  incomingByte = Serial.read();
51
52
53 if (incomingByte == 'W') {
54digitalWrite(in1,  HIGH);//adelante
55digitalWrite(in4, HIGH);
56digitalWrite(in2, LOW);
57digitalWrite(in3,  LOW);
58
59  
60 }
61
62 if (incomingByte == 'S') {
63digitalWrite(in1, LOW);//atras
64digitalWrite(in4,  LOW);
65digitalWrite(in2, HIGH);
66digitalWrite(in3, HIGH);
67  
68 }
69  if  (incomingByte == 'A') {
70digitalWrite(in1, LOW);//der
71digitalWrite(in4, HIGH);
72digitalWrite(in2,  HIGH);
73digitalWrite(in3, LOW);
74
75  
76 }
77
78 if (incomingByte == 'D')  {
79digitalWrite(in1, HIGH);//izq
80digitalWrite(in4, LOW);
81digitalWrite(in2,LOW  );
82digitalWrite(in3, HIGH);
83  
84 }
85
86
87 if (incomingByte == 'E')  {
88digitalWrite(in1, LOW);//alto
89digitalWrite(in4, LOW);
90digitalWrite(in2,  LOW);
91digitalWrite(in3, LOW);
92}
93
94
95 if (incomingByte == 'P') {
96  digitalWrite(en1, HIGH);//on
97digitalWrite(en2, HIGH);
98
99 }
100if (incomingByte  == 'O') {
101  digitalWrite(en1, LOW);//off
102digitalWrite(en2, LOW);
103
104}
105if  (incomingByte == 'T') {
106
107servo1.write(10);  //1
108       delay(950);
109}
110if  (incomingByte == 'Y') {
111
112servo1.write(90);  //1S
113       delay(950);
114  }     
115
116if (incomingByte == 'U') {
117
118servo1.write(175);  //1//////////////
119       delay(950); 
120}
121if (incomingByte == 'H') {
122
123servo2.write(90);  //2
124       delay(950);  
125}
126if (incomingByte == 'J') {
127
128servo2.write(10);  //2
129       delay(950);
130}
131 
132
133if (incomingByte == 'V') {
134
135servo3.write(90);  //3
136       delay(950);
137}
138if (incomingByte == 'B') {
139
140servo3.write(90);  //3
141       delay(950);  
142
143}
144if (incomingByte == 'N') {
145
146servo3.write(170);  //3
147       delay(950);
148}
149if (incomingByte == 'K') {
150
151servo4.write(170);  //4
152       delay(950);
153 }     
154
155if (incomingByte == 'L') {
156
157servo4.write(95);  //4
158       delay(950);
159
160              
161       
162}
163 }
164}