/*------------------------------------------------------------------------------------ 版权说明:Copyright 2022 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved. Distributed under MIT license.See file LICENSE for detail or copy at https://opensource.org/licenses/MIT by 机器谱 2022-9-28 https://www.robotway.com/ ------------------------------ 实功能: 从串口(蓝牙)接收字符,根据不同字符分别做出前进、后退、停止、原地左转、原地右转的动作。 ----------------------------------------------------- 实验接线: 左轮:D9,D10 右轮:D5,D6。 ------------------------------------------------------------------------------------*/ int _ABVAR_1_Bluetooth_data = 0 ;
void Left(); void Stop(); void Right(); void Back(); void Forward();
void setup() { Serial.begin(9600); pinMode( 5 , OUTPUT); pinMode( 6 , OUTPUT); pinMode( 9 , OUTPUT); pinMode( 10 , OUTPUT); }
void loop() { _ABVAR_1_Bluetooth_data = Serial.parseInt() ; if (( ( _ABVAR_1_Bluetooth_data ) > ( 0 ) )) { if (( ( _ABVAR_1_Bluetooth_data ) == ( 1 ) )) { Forward(); } if (( ( _ABVAR_1_Bluetooth_data ) == ( 2 ) )) { Back(); } if (( ( _ABVAR_1_Bluetooth_data ) == ( 3 ) )) { Left(); } if (( ( _ABVAR_1_Bluetooth_data ) == ( 4 ) )) { Right(); } if (( ( _ABVAR_1_Bluetooth_data ) == ( 5 ) )) { Stop(); } } }
void Right() { digitalWrite( 5 , HIGH ); digitalWrite( 6 , LOW ); digitalWrite( 9 , LOW ); digitalWrite( 10 , HIGH ); }
void Back() { digitalWrite( 5 , HIGH ); digitalWrite( 6 , LOW ); digitalWrite( 9 , HIGH ); digitalWrite( 10 , LOW ); }
void Left() { digitalWrite( 5 , LOW ); digitalWrite( 6 , HIGH ); digitalWrite( 9 , HIGH ); digitalWrite( 10 , LOW ); }
void Forward() { digitalWrite( 5 , LOW ); digitalWrite( 6 , HIGH ); digitalWrite( 9 , LOW ); digitalWrite( 10 , HIGH ); }
void Stop() { digitalWrite( 5 , HIGH ); digitalWrite( 6 , HIGH ); digitalWrite( 9 , HIGH ); digitalWrite( 10 , HIGH ); } |