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#define motorLeftAPin 6 #define motorLeftBPin 5 #define motorRightAPin 9 #define motorRightBPin 3 char pre; void setup() { Serial.begin(9600); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 0); analogWrite(motorRightAPin, 0); analogWrite(motorRightBPin, 0); } void motors(char RL, int FSB) { if (RL=='R') { switch (FSB) { case 2: // 고속전진 analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 255); break; case 1: // 저속전진 analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 150); break; case 0: // 정지 analogWrite(motorRightAPin, 0); analogWrite(motorRightBPin, 0); break; case -1: // 저속후진 analogWrite(motorRightAPin, 0); analogWrite(motorRightBPin, 150); break; case -2: // 고속후진 analogWrite(motorRightAPin, 0); analogWrite(motorRightBPin, 255); break; } } else if (RL=='L') { switch (FSB) { case 2: // 고속전진 analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 255); break; case 1: // 저속전진 analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 150); break; case 0: // 정지 analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 0); break; case -1: // 저속후진 analogWrite(motorLeftBPin, 0); analogWrite(motorLeftAPin, 150); break; case -2: // 고속후진 analogWrite(motorLeftBPin, 0); analogWrite(motorLeftAPin, 255); break; } } } void loop() { char chr; if (Serial.available() > 0) { chr=Serial.read(); switch (chr) { case '1': motors('L', 1); motors('R', 2); break; case '2': if (pre=='2') { motors('L', 2); motors('R', 2); } else { motors('L', 1); motors('R', 1); } break; case '3': motors('L', 2); motors('R', 1); break; case '4': if (pre=='4') { motors('L', -2); motors('R', 2); } else { motors('L', -1); motors('R', 1); } break; case '5': motors('L', 0); motors('R', 0); break; case '6': if (pre=='4') { motors('L', 2); motors('R', -2); } else { motors('L', 1); motors('R', -1); } break; case '7': motors('L', -1); motors('R', -2); break; case '8': if (pre=='8') { motors('L', -2); motors('R', -2); } else { motors('L', -1); motors('R', -1); } break; case '9': motors('L', -2); motors('R', -1); break; } pre=chr; } } |
※ 수업용 자료입니다. (redcrow@naver.com)