Microcontroller 7

อุปกรณ์

Arduino UNO & Genuino UNO
Adafruit L293D Motor Shield
HC-SR4 Ultrasonic Sensor
HC-05 Bluetooth Module
Geared motor

Code #include <AFMotor.h> //Objects AF_DCMotor motorRight(1, MOTOR12_64KHZ); // create motor #1, 64KHz pwm AF_DCMotor motorLeft(3, MOTOR12_64KHZ); // create motor #3, 64KHz pwm //Constants and variable char dataIn = 'S'; char determinant; char det; int vel = 0; //Bluetooth Stuff void setup() { Serial.begin(9600); // set up Serial library at 9600 bps //Initalization messages Serial.println("ArduinoBymyself - ROVERBot"); Serial.println(" AF Motor test!"); //turn off motors motorRight.setSpeed(0); motorLeft.setSpeed(0); motorRight.run(RELEASE); motorLeft.run(RELEASE); } void loop() { det = check(); //call check() subrotine to get the serial code //serial code analysis switch (det){ case 'F': // F, move forward motorRight.setSpeed(vel); motorLeft.setSpeed(vel); motorRight.run(FORWARD); motorLeft.run(FORWARD); det = check(); break; case 'B': // B, move back motorRight.setSpeed(vel); motorLeft.setSpeed(vel); motorRight.run(BACKWARD); motorLeft.run(BACKWARD); det = check(); break; case 'L':// L, move wheels left motorRight.setSpeed(vel); motorLeft.setSpeed(vel/4); motorRight.run(FORWARD); motorLeft.run(FORWARD); det = check(); break; case 'R': // R, move wheels right motorRight.setSpeed(vel/4); motorLeft.setSpeed(vel); motorRight.run(FORWARD); motorLeft.run(FORWARD); det = check(); break; case 'I': // I, turn right forward motorRight.setSpeed(vel/2); motorLeft.setSpeed(vel); motorRight.run(FORWARD); motorLeft.run(FORWARD); det = check(); break; case 'J': // J, turn right back motorRight.setSpeed(vel/2); motorLeft.setSpeed(vel); motorRight.run(BACKWARD); motorLeft.run(BACKWARD); det = check(); break; case 'G': // G, turn left forward motorRight.setSpeed(vel); motorLeft.setSpeed(vel/2); motorRight.run(FORWARD); motorLeft.run(FORWARD); det = check(); break; case 'H': // H, turn left back motorRight.setSpeed(vel); motorLeft.setSpeed(vel/2); motorRight.run(BACKWARD); motorLeft.run(BACKWARD); det = check(); break; case 'S': // S, stop motorRight.setSpeed(vel); motorLeft.setSpeed(vel); motorRight.run(RELEASE); motorLeft.run(RELEASE); det = check(); break; } } //get bluetooth code received from serial port int check(){ if (Serial.available() > 0){// if there is valid data in the serial port dataIn = Serial.read();// stores data into a varialbe //check the code if (dataIn == 'F'){//Forward determinant = 'F'; } else if (dataIn == 'B'){//Backward determinant = 'B'; } else if (dataIn == 'L'){//Left determinant = 'L'; } else if (dataIn == 'R'){//Right determinant = 'R'; } else if (dataIn == 'I'){//Froward Right determinant = 'I'; } else if (dataIn == 'J'){//Backward Right determinant = 'J'; } else if (dataIn == 'G'){//Forward Left determinant = 'G'; } else if (dataIn == 'H'){//Backward Left determinant = 'H'; } else if (dataIn == 'S'){//Stop determinant = 'S'; } else if (dataIn == '0'){//Speed 0 vel = 0; } else if (dataIn == '1'){//Speed 25 vel = 25; } else if (dataIn == '2'){//Speed 50 vel = 50; } else if (dataIn == '3'){//Speed 75 vel = 75; } else if (dataIn == '4'){//Speed 100 vel = 100; } else if (dataIn == '5'){//Speed 125 vel = 125; } else if (dataIn == '6'){//Speed 150 vel = 150; } else if (dataIn == '7'){//Speed 175 vel = 175; } else if (dataIn == '8'){//Speed 200 vel = 200; } else if (dataIn == '9'){//Speed 225 vel = 225; } else if (dataIn == 'q'){//Speed 255 vel = 255; } else if (dataIn == 'U'){//Back Lights On determinant = 'U'; } else if (dataIn == 'u'){//Back Lights Off determinant = 'u'; } else if (dataIn == 'W'){//Front Lights On determinant = 'W'; } else if (dataIn == 'w'){//Front Lights Off determinant = 'w'; } else if (dataIn == 'V'){//Horn On determinant = 'V'; } else if (dataIn == 'v'){//Horn Off determinant = 'v'; } else if (dataIn == 'X'){//Extra On determinant = 'X'; } else if (dataIn == 'x'){//Extra Off determinant = 'x'; } } return determinant; }