Fire Extinguish Robot 「水陣」SUIJIN MK-1

I made Fire Fighter Robot. This robot can movie with teleoperation system using arduino.

Feb 5, 2023

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LGPL3+

Components and supplies

RS775 motor

Xbee

sprocket

Pololu motor drive 24v21

PVC Board

MDD3A

Arduino MEGA 2560

Alminium frame

Arduino UNO R3 - Made in italy

electric parts

Tools and machines

3Dprinter

CNC milling machine

Apps and platforms

Arduino IDE

Project description

Code

Receiver seide Code

This is Receiver side Code.

1int PIN_VREF4=4; 
2int PIN_VREF5=5;
3int PIN_VREF6=6; 
4int PIN_VREF7=7;//←barbette motor
5
6int PIN_VREF2=2; 
7int PIN_VREF3=3; 
8int PIN_VREFD8=8; 
9int PIN_VREFD9=9;//crawler motor 
10
11
12int PIN_SUITON=10;//←pump motor
13int PIN_solenoid=11;//solenoid channel
14int PIN_SUITOND=12;//←pump motor direction
15
16
17int RcvData=0;
18
19int RcvBuf[8];//array
20
21//int MT_Rin=5;
22//int MT_Lin=6;
23int MT_RoutSerial=0;
24int MT_LoutSerial=0;
25int MT_RoutSerial2=0;
26int MT_LoutSerial2=0;
27int MT_RSuboutSerial=0;
28int MT_LSuboutSerial=0;
29int i=0;
30int RcvState=0;
31//int RcvCountF=0;
32//int RcvCountS=0;
33int RcvC=0;
34int MT1D=0;
35int MT2D=0;
36int MT1S=0;
37int MT2S=0;
38int RcvCount=0;
39int SUITONvalue=0;
40int analogupper;
41int analoglower;
42int VDataout1;
43int VDataout2;
44
45
46void setup() {
47    Serial.begin(9600); // 9600bpsでシリアルポートを開く
48  /*pinMode(PIN_OUT1,OUTPUT); 
49  pinMode(PIN_OUT2,OUTPUT); 
50  pinMode(PIN_OUT3,OUTPUT); 
51  pinMode(PIN_OUT4,OUTPUT);*/
52  pinMode(PIN_VREF2,OUTPUT); 
53  pinMode(PIN_VREF3,OUTPUT); 
54  pinMode(PIN_VREF4,OUTPUT);  
55  pinMode(PIN_VREF5,OUTPUT); 
56  pinMode(PIN_VREF6,OUTPUT); 
57  pinMode(PIN_VREF7,OUTPUT);   
58  pinMode(PIN_VREFD8,OUTPUT); 
59  pinMode(PIN_VREFD9,OUTPUT); 
60  pinMode(PIN_SUITON,OUTPUT);
61  pinMode(PIN_solenoid,OUTPUT); 
62  pinMode(PIN_SUITOND,OUTPUT);     
63}
64
65void loop() {
66  while(Serial.available() > 0){
67    RcvData=Serial.read();
68    //Serial.println(RcvData);
69    //Serial.println(RcvState);               
70          switch(RcvState){
71            case 0:
72                 if(RcvData==255){
73                    RcvState = 1; 
74                    //Serial.print("RcvData1"); 
75                    //Serial.println(RcvState);             
76                 }
77                break;
78            case 1:
79                 if(RcvData==255){
80                    RcvState = 2;
81                    //Serial.print(" RcvData2"); 
82                    //Serial.println(RcvData);             
83                 }
84                 else{
85                    RcvState = 0;            
86                 }                               
87                 break;
88            case 2:
89                RcvBuf[RcvCount]=RcvData;
90                RcvCount++;
91                if(RcvCount >=9){
92                 RcvCount=0;     
93                 RcvState = 3; 
94                 //Serial.print(" RcvData*"); 
95                 //Serial.println(RcvData); 
96                }
97                break;              
98            case 3:
99                MotorCnt();
100                RcvState=0;
101                break;                            
102              }                               
103                 //Serial.print(" RcvCount*"); 
104                 //Serial.println(RcvCount); 
105           }
106                 //Serial.print(" RcvData*"); 
107                 //Serial.println(RcvData); 
108
109         }
110
111void MotorCnt(){
112  //モータ1の制御
113  //digitalWrite(13, HIGH );
114  //delay(100); 
115  //digitalWrite(13, LOW );
116  //delay(100);
117  //digitalwriteが先でanalogWriteが後！！
118  analogupper = analogRead(A0);
119  VDataout1 = map(analogupper,0,1023,0,255);
120  analoglower = analogRead(A1);
121  VDataout2 = map(analoglower,0,1023,0,255);
122  
123  if(RcvBuf[0]==0 || RcvBuf[0]==1){
124    if(RcvBuf[0] == 0){
125      MT_LoutSerial = RcvBuf[1];
126      //Serial.print("左前");
127      //Serial.print(MT_LoutSerial); 
128      digitalWrite(PIN_VREFD8,HIGH);
129      analogWrite(PIN_VREF2,MT_LoutSerial); 
130      }
131      else{
132      MT_LoutSerial = RcvBuf[1];
133      //Serial.print("左後");
134      //Serial.print(MT_LoutSerial);
135      digitalWrite(PIN_VREFD8,LOW);    
136      analogWrite(PIN_VREF2,MT_LoutSerial); 
137      }
138    if(RcvBuf[2] == 0){
139      MT_RoutSerial = RcvBuf[3];
140      //Serial.print("右前");
141      //Serial.println(MT_RoutSerial);
142      digitalWrite(PIN_VREFD9,HIGH); 
143      analogWrite(13,MT_RoutSerial); 
144      }
145      else{
146      MT_RoutSerial = RcvBuf[3];
147      //Serial.print("右後");
148      //Serial.println(MT_RoutSerial);
149      digitalWrite(PIN_VREFD9,LOW);
150      analogWrite(13,MT_RoutSerial); 
151      }
152    }
153  else{//MT_RoutSerial2とLoutSerial2は回転方向表示用変数　また，回転速度の表示を行うと，ジョイスティックが中立になっても，受信側の値が0にならないので，analogwrite(PWM出力)の値は強制的に0にしている
154    //MT_RoutSerial2 = RcvBuf[0];
155    //MT_LoutSerial2 = RcvBuf[2];
156    //Serial.print("停止 ");
157    //Serial.print("左回転方向");
158    //Serial.print(MT_LoutSerial2);    
159    //Serial.print("右回転方向");
160    //Serial.print(MT_RoutSerial2);
161    //Serial.print("回転速度");         
162    //Serial.print(MT_LoutSerial);
163    //Serial.print(" ");           
164    //Serial.println(MT_RoutSerial);    
165    digitalWrite(PIN_VREFD8,LOW);
166    digitalWrite(PIN_VREFD9,LOW);
167    analogWrite(PIN_VREF2,0);              
168    analogWrite(PIN_VREF3,0); 
169    }
170  if(RcvBuf[4]==0 || RcvBuf[4]==1){  
171    if(RcvBuf[4] == 0){//ここから配列　ボタン入力の処理を描いてゆく
172      if(VDataout1<170){
173        analogWrite(PIN_VREF4,50);                  
174        analogWrite(PIN_VREF5,0);      
175        Serial.print("砲座X");
176        Serial.println(1);
177        }      
178      else{                           //角度が大きければ停止
179        analogWrite(PIN_VREF4,0);               
180        analogWrite(PIN_VREF5,0);     
181        Serial.print("砲座X");
182        Serial.println(2);
183        }      
184    }
185    else if(RcvBuf[4] == 1){
186      if(VDataout1>50){
187        analogWrite(PIN_VREF4,0);             
188        analogWrite(PIN_VREF5,50);       
189        Serial.print("砲座X");
190        Serial.println(3);
191        }      
192      else{                           //角度が大きければ停止
193        analogWrite(PIN_VREF4,0);                
194        analogWrite(PIN_VREF5,0);       
195        Serial.print("砲座X");
196        Serial.println(4);
197        }         
198    }
199  }
200    else{                             //ボタンが押されていないので停止
201        analogWrite(PIN_VREF6,0);               
202        analogWrite(PIN_VREF7,0);       
203        Serial.print("砲座X");
204        Serial.println(5);            
205    }   
206  if(RcvBuf[5]==0 || RcvBuf[5]==1){  
207    if(RcvBuf[5] == 0){
208      if(VDataout2<190){
209        analogWrite(PIN_VREF6,70);             
210        analogWrite(PIN_VREF7,0);      
211        Serial.print("砲座Z");
212        Serial.println(1);
213      }
214      else{
215        analogWrite(PIN_VREF6,0);                
216        analogWrite(PIN_VREF7,0);       
217        Serial.print("砲座Z"); 
218        Serial.println(2);               
219      }
220    }
221    else if(RcvBuf[5] == 1){
222      if(VDataout2<30){
223        analogWrite(PIN_VREF6,0);                 
224        analogWrite(PIN_VREF7,70);     
225        Serial.print("砲座Z"); 
226        Serial.println(3);      
227      }
228      else{
229        analogWrite(PIN_VREF6,0);                
230        analogWrite(PIN_VREF7,0);       
231        Serial.print("砲座Z"); 
232        Serial.println(4);               
233      }
234    }
235  }
236    else{
237        analogWrite(PIN_VREF6,0);                 
238        analogWrite(PIN_VREF7,0);       
239        Serial.print("砲座Z"); 
240        Serial.println(5);                  
241    }
242    
243    if(RcvBuf[6] == 1){
244      SUITONvalue = RcvBuf[7];
245      digitalWrite(PIN_SUITOND,HIGH);       
246      analogWrite(PIN_SUITON,SUITONvalue);
247      digitalWrite(PIN_solenoid,HIGH);  
248    }
249    else{
250      SUITONvalue = 0;
251      digitalWrite(PIN_SUITOND,HIGH);       
252      analogWrite(PIN_SUITON,0);      
253      digitalWrite(PIN_solenoid,LOW);  
254    }     
255    Serial.print("可変抵抗⇓");
256    Serial.println(VDataout2);   
257  delay(100);
258}

int PIN_VREF4=4; 
int PIN_VREF5=5;
int PIN_VREF6=6; 
int PIN_VREF7=7;//←barbette motor

int PIN_VREF2=2; 
int PIN_VREF3=3; 
int PIN_VREFD8=8; 
int PIN_VREFD9=9;//crawler motor 


int PIN_SUITON=10;//←pump motor
int PIN_solenoid=11;//solenoid channel
int PIN_SUITOND=12;//←pump motor direction


int RcvData=0;

int RcvBuf[8];//array

//int MT_Rin=5;
//int MT_Lin=6;
int MT_RoutSerial=0;
int MT_LoutSerial=0;
int MT_RoutSerial2=0;
int MT_LoutSerial2=0;
int MT_RSuboutSerial=0;
int MT_LSuboutSerial=0;
int i=0;
int RcvState=0;
//int RcvCountF=0;
//int RcvCountS=0;
int RcvC=0;
int MT1D=0;
int MT2D=0;
int MT1S=0;
int MT2S=0;
int RcvCount=0;
int SUITONvalue=0;
int analogupper;
int analoglower;
int VDataout1;
int VDataout2;


void setup() {
    Serial.begin(9600); // 9600bpsでシリアルポートを開く
  /*pinMode(PIN_OUT1,OUTPUT); 
  pinMode(PIN_OUT2,OUTPUT); 
  pinMode(PIN_OUT3,OUTPUT); 
  pinMode(PIN_OUT4,OUTPUT);*/
  pinMode(PIN_VREF2,OUTPUT); 
  pinMode(PIN_VREF3,OUTPUT); 
  pinMode(PIN_VREF4,OUTPUT);  
  pinMode(PIN_VREF5,OUTPUT); 
  pinMode(PIN_VREF6,OUTPUT); 
  pinMode(PIN_VREF7,OUTPUT);   
  pinMode(PIN_VREFD8,OUTPUT); 
  pinMode(PIN_VREFD9,OUTPUT); 
  pinMode(PIN_SUITON,OUTPUT);
  pinMode(PIN_solenoid,OUTPUT); 
  pinMode(PIN_SUITOND,OUTPUT);     
}

void loop() {
  while(Serial.available() > 0){
    RcvData=Serial.read();
    //Serial.println(RcvData);
    //Serial.println(RcvState);               
          switch(RcvState){
            case 0:
                 if(RcvData==255){
                    RcvState = 1; 
                    //Serial.print("RcvData1"); 
                    //Serial.println(RcvState);             
                 }
                break;
            case 1:
                 if(RcvData==255){
                    RcvState = 2;
                    //Serial.print(" RcvData2"); 
                    //Serial.println(RcvData);             
                 }
                 else{
                    RcvState = 0;            
                 }                               
                 break;
            case 2:
                RcvBuf[RcvCount]=RcvData;
                RcvCount++;
                if(RcvCount >=9){
                 RcvCount=0;     
                 RcvState = 3; 
                 //Serial.print(" RcvData*"); 
                 //Serial.println(RcvData); 
                }
                break;              
            case 3:
                MotorCnt();
                RcvState=0;
                break;                            
              }                               
                 //Serial.print(" RcvCount*"); 
                 //Serial.println(RcvCount); 
           }
                 //Serial.print(" RcvData*"); 
                 //Serial.println(RcvData); 

         }

void MotorCnt(){
  //モータ1の制御
  //digitalWrite(13, HIGH );
  //delay(100); 
  //digitalWrite(13, LOW );
  //delay(100);
  //digitalwriteが先でanalogWriteが後！！
  analogupper = analogRead(A0);
  VDataout1 = map(analogupper,0,1023,0,255);
  analoglower = analogRead(A1);
  VDataout2 = map(analoglower,0,1023,0,255);
  
  if(RcvBuf[0]==0 || RcvBuf[0]==1){
    if(RcvBuf[0] == 0){
      MT_LoutSerial = RcvBuf[1];
      //Serial.print("左前");
      //Serial.print(MT_LoutSerial); 
      digitalWrite(PIN_VREFD8,HIGH);
      analogWrite(PIN_VREF2,MT_LoutSerial); 
      }
      else{
      MT_LoutSerial = RcvBuf[1];
      //Serial.print("左後");
      //Serial.print(MT_LoutSerial);
      digitalWrite(PIN_VREFD8,LOW);    
      analogWrite(PIN_VREF2,MT_LoutSerial); 
      }
    if(RcvBuf[2] == 0){
      MT_RoutSerial = RcvBuf[3];
      //Serial.print("右前");
      //Serial.println(MT_RoutSerial);
      digitalWrite(PIN_VREFD9,HIGH); 
      analogWrite(13,MT_RoutSerial); 
      }
      else{
      MT_RoutSerial = RcvBuf[3];
      //Serial.print("右後");
      //Serial.println(MT_RoutSerial);
      digitalWrite(PIN_VREFD9,LOW);
      analogWrite(13,MT_RoutSerial); 
      }
    }
  else{//MT_RoutSerial2とLoutSerial2は回転方向表示用変数　また，回転速度の表示を行うと，ジョイスティックが中立になっても，受信側の値が0にならないので，analogwrite(PWM出力)の値は強制的に0にしている
    //MT_RoutSerial2 = RcvBuf[0];
    //MT_LoutSerial2 = RcvBuf[2];
    //Serial.print("停止 ");
    //Serial.print("左回転方向");
    //Serial.print(MT_LoutSerial2);    
    //Serial.print("右回転方向");
    //Serial.print(MT_RoutSerial2);
    //Serial.print("回転速度");         
    //Serial.print(MT_LoutSerial);
    //Serial.print(" ");           
    //Serial.println(MT_RoutSerial);    
    digitalWrite(PIN_VREFD8,LOW);
    digitalWrite(PIN_VREFD9,LOW);
    analogWrite(PIN_VREF2,0);              
    analogWrite(PIN_VREF3,0); 
    }
  if(RcvBuf[4]==0 || RcvBuf[4]==1){  
    if(RcvBuf[4] == 0){//ここから配列　ボタン入力の処理を描いてゆく
      if(VDataout1<170){
        analogWrite(PIN_VREF4,50);                  
        analogWrite(PIN_VREF5,0);      
        Serial.print("砲座X");
        Serial.println(1);
        }      
      else{                           //角度が大きければ停止
        analogWrite(PIN_VREF4,0);               
        analogWrite(PIN_VREF5,0);     
        Serial.print("砲座X");
        Serial.println(2);
        }      
    }
    else if(RcvBuf[4] == 1){
      if(VDataout1>50){
        analogWrite(PIN_VREF4,0);             
        analogWrite(PIN_VREF5,50);       
        Serial.print("砲座X");
        Serial.println(3);
        }      
      else{                           //角度が大きければ停止
        analogWrite(PIN_VREF4,0);                
        analogWrite(PIN_VREF5,0);       
        Serial.print("砲座X");
        Serial.println(4);
        }         
    }
  }
    else{                             //ボタンが押されていないので停止
        analogWrite(PIN_VREF6,0);               
        analogWrite(PIN_VREF7,0);       
        Serial.print("砲座X");
        Serial.println(5);            
    }   
  if(RcvBuf[5]==0 || RcvBuf[5]==1){  
    if(RcvBuf[5] == 0){
      if(VDataout2<190){
        analogWrite(PIN_VREF6,70);             
        analogWrite(PIN_VREF7,0);      
        Serial.print("砲座Z");
        Serial.println(1);
      }
      else{
        analogWrite(PIN_VREF6,0);                
        analogWrite(PIN_VREF7,0);       
        Serial.print("砲座Z"); 
        Serial.println(2);               
      }
    }
    else if(RcvBuf[5] == 1){
      if(VDataout2<30){
        analogWrite(PIN_VREF6,0);                 
        analogWrite(PIN_VREF7,70);     
        Serial.print("砲座Z"); 
        Serial.println(3);      
      }
      else{
        analogWrite(PIN_VREF6,0);                
        analogWrite(PIN_VREF7,0);       
        Serial.print("砲座Z"); 
        Serial.println(4);               
      }
    }
  }
    else{
        analogWrite(PIN_VREF6,0);                 
        analogWrite(PIN_VREF7,0);       
        Serial.print("砲座Z"); 
        Serial.println(5);                  
    }
    
    if(RcvBuf[6] == 1){
      SUITONvalue = RcvBuf[7];
      digitalWrite(PIN_SUITOND,HIGH);       
      analogWrite(PIN_SUITON,SUITONvalue);
      digitalWrite(PIN_solenoid,HIGH);  
    }
    else{
      SUITONvalue = 0;
      digitalWrite(PIN_SUITOND,HIGH);       
      analogWrite(PIN_SUITON,0);      
      digitalWrite(PIN_solenoid,LOW);  
    }     
    Serial.print("可変抵抗⇓");
    Serial.println(VDataout2);   
  delay(100);
}

Controller Code

This is controller code.

1int SendBuf[8];
2int i;
3
4int HDatain,VDatain,HDataout,VDataout,SUITONin,SUITONout;
5int button2 =2;
6int button3 =3;
7int button4 =4;
8int button5 =5;
9int button6 =6;
10int DirR;
11int DirL;
12int SUITON_under_R_read;
13int SUITON_under_L_read;
14int SUITON_top_U_read;
15int SUITON_top_D_read;
16int SUITONDirup_out;
17int SUITONDirunder_out;
18int Duty1,Duty2,Duty3;
19int SubSolenoid_read;
20int SubSolenoid_out;
21int countn=0;
22int solenoidout=0;
23int SUINTONin ;
24
25void setup() {
26  // put your setup code here, to run once:
27  Serial.begin(9600); 
28    pinMode(button2,INPUT);
29    pinMode(button3,INPUT);
30    pinMode(button4,INPUT);
31    pinMode(button5,INPUT);  
32    pinMode(button6,INPUT);  
33}
34
35void loop() {
36  // put your main code here, to run repeatedly:
37  VDatain = analogRead(A0);
38  VDataout = map(VDatain,0,1023,0,220);
39  HDatain = analogRead(A1);
40  HDataout = map(HDatain,0,1023,0,220);
41  SUITONin = analogRead(A5);
42  SUITONout = map(SUITONin,0,1023,0,255);
43  SUITON_under_R_read = digitalRead(button2);
44  SUITON_under_L_read = digitalRead(button3);
45  SUITON_top_U_read = digitalRead(button4);
46  SUITON_top_D_read = digitalRead(button5);
47  SubSolenoid_read = digitalRead(button6);    
48  //前進後退
49
50    if(VDataout>120){
51      if(HDataout>140){
52        DirL = 0;
53        DirR = 0;    
54        Duty1 =VDataout;
55        Duty2 =HDataout;
56      }
57      else if(140>=HDataout && 100<HDataout){
58        DirL = 0;
59        DirR = 0;    
60        Duty1 =(VDataout-110)*2;
61        Duty2 =(VDataout-110)*2;
62      }
63      else{
64        DirL = 0;
65        DirR = 0;    
66        Duty1 =(200-HDataout);
67        Duty2 =VDataout;
68      }             
69    }
70    else if(VDataout<=120 && VDataout>=95){
71      if(HDataout>110){
72        DirL = 1;
73        DirR = 0;    
74        Duty1 =(HDataout-115)*2;
75        Duty2 =(HDataout-115)*2;
76      }
77      else if(HDataout<110){
78        DirL = 0;
79        DirR = 1;    
80        Duty1 =(108-HDataout)*2;
81        Duty2 =(108-HDataout)*2;
82      }
83      else{
84        DirL = 2;
85        DirR = 2;    
86        Duty1 =0;
87        Duty2 =0;
88      }                      
89    }
90
91    else{
92      if(HDataout>150){
93        DirL = 1;
94        DirR = 1;    
95        Duty1 =(HDataout-120)*2;
96        Duty2 =(120-VDataout)*2;
97      }
98      else if(150>=HDataout && HDataout>100){
99        DirL = 1;
100        DirR = 1;    
101        Duty1 =(120-VDataout)*2;//(110-VDataout)*2
102        Duty2 =(120-VDataout)*2;//(110-VDataout)*2
103      }
104      else{
105        DirL = 2;
106        DirR = 2;    
107        Duty1 =(120-HDataout)*2;
108        Duty2 =(120-VDataout)*2;
109      }                                
110    }
111    
112    if(SUITON_under_R_read==LOW || SUITON_under_L_read==LOW){     //砲台下側左右
113      if(SUITON_under_R_read==LOW){
114        SUITONDirunder_out=1;
115      }
116      else{
117        SUITONDirunder_out=0;
118      }
119    }
120      else{
121        SUITONDirunder_out=2;              
122      }    
123    if(SUITON_top_U_read==LOW || SUITON_top_D_read==LOW){     //砲台上側上下
124      if(SUITONDirup_out==LOW){
125        SUITONDirup_out=1;
126      }
127      else{
128        SUITONDirup_out=0;
129      }            
130    }    
131    else{
132      SUITONDirup_out=2;              
133    }       
134
135                            //for無限ループからのbreakで脱出
136
137    if (SubSolenoid_read==HIGH) {
138      solenoidout=0;
139      
140    }
141    else{
142      solenoidout=1;
143      
144    }
145    
146   //SendBuf[0] = 0xFF;
147   //SendBuf[1] = 0xFF;
148   SendBuf[0] = DirL;
149   SendBuf[1] = Duty1;
150   SendBuf[2] = DirR;
151   SendBuf[3] = Duty2;
152   SendBuf[4] = SUITONDirunder_out;
153   SendBuf[5] = SUITONDirup_out;
154   SendBuf[6] = solenoidout;
155   SendBuf[7] = SUITONout;      
156   //SendBuf[4] = 0;
157   Serial.write(255);
158   Serial.write(255);
159   //Serial.print(255); 
160   //Serial.println(255); 
161   for(i=0;i<8;i++){
162   
163   //Serial.println(SendBuf[i]); 
164   Serial.write(SendBuf[i]);
165   }      
166   Serial.write(0);
167   //Serial.println(0);
168   //Serial.print("VDataout");
169   //Serial.println(VDataout);     
170   //Serial.print("HDataout");
171   //Serial.println(HDataout); 
172   //Serial.println(SubSolenoid_read);
173  delay(200); 
174}

int SendBuf[8];
int i;

int HDatain,VDatain,HDataout,VDataout,SUITONin,SUITONout;
int button2 =2;
int button3 =3;
int button4 =4;
int button5 =5;
int button6 =6;
int DirR;
int DirL;
int SUITON_under_R_read;
int SUITON_under_L_read;
int SUITON_top_U_read;
int SUITON_top_D_read;
int SUITONDirup_out;
int SUITONDirunder_out;
int Duty1,Duty2,Duty3;
int SubSolenoid_read;
int SubSolenoid_out;
int countn=0;
int solenoidout=0;
int SUINTONin ;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600); 
    pinMode(button2,INPUT);
    pinMode(button3,INPUT);
    pinMode(button4,INPUT);
    pinMode(button5,INPUT);  
    pinMode(button6,INPUT);  
}

void loop() {
  // put your main code here, to run repeatedly:
  VDatain = analogRead(A0);
  VDataout = map(VDatain,0,1023,0,220);
  HDatain = analogRead(A1);
  HDataout = map(HDatain,0,1023,0,220);
  SUITONin = analogRead(A5);
  SUITONout = map(SUITONin,0,1023,0,255);
  SUITON_under_R_read = digitalRead(button2);
  SUITON_under_L_read = digitalRead(button3);
  SUITON_top_U_read = digitalRead(button4);
  SUITON_top_D_read = digitalRead(button5);
  SubSolenoid_read = digitalRead(button6);    
  //前進後退

    if(VDataout>120){
      if(HDataout>140){
        DirL = 0;
        DirR = 0;    
        Duty1 =VDataout;
        Duty2 =HDataout;
      }
      else if(140>=HDataout && 100<HDataout){
        DirL = 0;
        DirR = 0;    
        Duty1 =(VDataout-110)*2;
        Duty2 =(VDataout-110)*2;
      }
      else{
        DirL = 0;
        DirR = 0;    
        Duty1 =(200-HDataout);
        Duty2 =VDataout;
      }             
    }
    else if(VDataout<=120 && VDataout>=95){
      if(HDataout>110){
        DirL = 1;
        DirR = 0;    
        Duty1 =(HDataout-115)*2;
        Duty2 =(HDataout-115)*2;
      }
      else if(HDataout<110){
        DirL = 0;
        DirR = 1;    
        Duty1 =(108-HDataout)*2;
        Duty2 =(108-HDataout)*2;
      }
      else{
        DirL = 2;
        DirR = 2;    
        Duty1 =0;
        Duty2 =0;
      }                      
    }

    else{
      if(HDataout>150){
        DirL = 1;
        DirR = 1;    
        Duty1 =(HDataout-120)*2;
        Duty2 =(120-VDataout)*2;
      }
      else if(150>=HDataout && HDataout>100){
        DirL = 1;
        DirR = 1;    
        Duty1 =(120-VDataout)*2;//(110-VDataout)*2
        Duty2 =(120-VDataout)*2;//(110-VDataout)*2
      }
      else{
        DirL = 2;
        DirR = 2;    
        Duty1 =(120-HDataout)*2;
        Duty2 =(120-VDataout)*2;
      }                                
    }
    
    if(SUITON_under_R_read==LOW || SUITON_under_L_read==LOW){     //砲台下側左右
      if(SUITON_under_R_read==LOW){
        SUITONDirunder_out=1;
      }
      else{
        SUITONDirunder_out=0;
      }
    }
      else{
        SUITONDirunder_out=2;              
      }    
    if(SUITON_top_U_read==LOW || SUITON_top_D_read==LOW){     //砲台上側上下
      if(SUITONDirup_out==LOW){
        SUITONDirup_out=1;
      }
      else{
        SUITONDirup_out=0;
      }            
    }    
    else{
      SUITONDirup_out=2;              
    }       

                            //for無限ループからのbreakで脱出

    if (SubSolenoid_read==HIGH) {
      solenoidout=0;
      
    }
    else{
      solenoidout=1;
      
    }
    
   //SendBuf[0] = 0xFF;
   //SendBuf[1] = 0xFF;
   SendBuf[0] = DirL;
   SendBuf[1] = Duty1;
   SendBuf[2] = DirR;
   SendBuf[3] = Duty2;
   SendBuf[4] = SUITONDirunder_out;
   SendBuf[5] = SUITONDirup_out;
   SendBuf[6] = solenoidout;
   SendBuf[7] = SUITONout;      
   //SendBuf[4] = 0;
   Serial.write(255);
   Serial.write(255);
   //Serial.print(255); 
   //Serial.println(255); 
   for(i=0;i<8;i++){
   
   //Serial.println(SendBuf[i]); 
   Serial.write(SendBuf[i]);
   }      
   Serial.write(0);
   //Serial.println(0);
   //Serial.print("VDataout");
   //Serial.println(VDataout);     
   //Serial.print("HDataout");
   //Serial.println(HDataout); 
   //Serial.println(SubSolenoid_read);
  delay(200); 
}

Downloadable files

Controller circuit diagram.

This figure show Controller circuit diagram.

Controller circuit.jpg