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標題: 超音波解救 [打印本頁]

作者: mjm2246 時間: 2012-3-29 22:10
標題: 超音波解救
unsigned char analogPin = 0;
float val = 0;
int pwm_a = 3;
int pwm_b = 11;
int dir_a = 12;
int dir_b = 13;

void setup() {

Serial.begin(9600);
pinMode(pwm_a, OUTPUT);
pinMode(pwm_b, OUTPUT);
pinMode(dir_a, OUTPUT);
pinMode(dir_b, OUTPUT);

}

void loop()
{
  val = analogRead(analogPin)*1.38; // read the value from the
  Serial.print("EZ1 distance = ");
  Serial.print(val);
  Serial.println(" cm");
  delay(100);

digitalWrite(dir_a, HIGH);
digitalWrite(dir_b, HIGH);
delay(100);
analogWrite(pwm_a,250);
analogWrite(pwm_b,250);
delay(100);

if (val < 100) // obstacle detected
{
//Stop both motors...
digitalWrite(dir_a, HIGH);
digitalWrite(dir_b, HIGH);
analogWrite(pwm_a, 100);
analogWrite(pwm_b, 100);

delay(1000); // ...and pause for a second
}
else if  ( val < 50 );
{
digitalWrite(dir_a, LOW);
digitalWrite(dir_b, HIGH);
analogWrite(pwm_a, 150);
analogWrite(pwm_b, 50);
delay (1000);
}

}

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