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code/duoji/.pydio

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code/duoji/duoji.ino

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+#include <Servo.h>
+
+//定义五中运动状态
+#define STOP      0 // 停止
+#define FORWARD   1 // 前进
+#define BACKWARD  2 // 后退
+#define TURNLEFT  3 // 左转
+#define TURNRIGHT 4 // 右转
+
+
+//定义需要用到的引脚
+int leftMotor1 = 16; // D0 红线
+int leftMotor2 = 5; // D1  褐线
+int leftPWM = 4;
+
+int rightMotor1 = 0; // D3  黑线
+int rightMotor2 = 2; // D4  白线
+int rightPWM = 14;
+
+Servo servo;
+void setup() {
+  //设置控制电机的引脚为输出状态
+  pinMode(leftMotor1, OUTPUT);
+  pinMode(leftMotor2, OUTPUT);
+  pinMode(rightMotor1, OUTPUT);
+  pinMode(rightMotor2, OUTPUT);
+
+  pinMode(leftPWM, OUTPUT);
+  pinMode(rightPWM, OUTPUT);
+
+  servo.attach(13); //D7
+  servo.write(90);
+}
+ 
+void loop() {
+  int cmd;
+  for(cmd=0;cmd<5;cmd++) {
+    analogWrite(leftPWM, 100);
+    analogWrite(rightPWM, 100);
+    motorRun(cmd);  
+    delay(2000);
+  } 
+}
+
+
+//运动控制函数
+void motorRun(int cmd)
+{
+  switch(cmd){
+    case FORWARD:
+      digitalWrite(leftMotor1, LOW);
+      digitalWrite(leftMotor2, HIGH);
+      digitalWrite(rightMotor1, LOW);
+      digitalWrite(rightMotor2, HIGH);
+      break;
+     case BACKWARD:
+      digitalWrite(leftMotor1, HIGH);
+      digitalWrite(leftMotor2, LOW);
+      digitalWrite(rightMotor1, HIGH);
+      digitalWrite(rightMotor2, LOW);
+      break;
+     case TURNLEFT:
+        servo.write(0);
+//      digitalWrite(leftMotor1, HIGH);
+//      digitalWrite(leftMotor2, LOW);
+//      digitalWrite(rightMotor1, LOW);
+//      digitalWrite(rightMotor2, HIGH);
+      break;
+     case TURNRIGHT:
+        servo.write(180);
+//      digitalWrite(leftMotor1, LOW);
+//      digitalWrite(leftMotor2, HIGH);
+//      digitalWrite(rightMotor1, HIGH);
+//      digitalWrite(rightMotor2, LOW);
+      break;
+     default:
+      digitalWrite(leftMotor1, LOW);
+      digitalWrite(leftMotor2, LOW);
+      digitalWrite(rightMotor1, LOW);
+      digitalWrite(rightMotor2, LOW);
+  }
+}