121 lines
1.9 KiB
Plaintext
121 lines
1.9 KiB
Plaintext
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#include <Servo.h>
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#undef int
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#undef abs
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#undef double
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#undef float
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#undef round
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Servo servoA, servoB, servoC;
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int IR = 6;
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int zumbador =11;
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int camara = 8;
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int girocam = 3;
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int bit1 = 0;
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int bit2 = 1;
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int bit3 = 2;
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int bit4 = 3;
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int val1 = 0;
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int val2 = 0;
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int val3 = 0;
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int val4 = 0;
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byte val = 0;
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int speed1 = 9;
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int speed2 = 10;
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int id = 0;
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unsigned long time=0;
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unsigned long time_ant=0;
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int frec = 0;
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int activa=0;
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void stop()
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{
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servoA.write(91); //Parado
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servoB.write(90); //Parado
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}
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void izquierda(int iz)
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{
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servoA.write(iz);
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}
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void derecha(int der)
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{
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servoB.write(der);
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}
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void retrocede(int re)
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{
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stop();
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servoA.write(re);
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servoB.write(180-re);
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}
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void avanza(int av)
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{
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stop();
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servoA.write(180-av);
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servoB.write(av);
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}
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void setup()
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{
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Serial.begin(9600);
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delay(100);
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analogWrite(zumbador,0);
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servoA.attach(speed1);
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//servo1.setMaximumPulse(2200);
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servoB.attach(speed2);
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servoC.attach(girocam);
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stop();
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servoC.write(93); //Parado
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pinMode(IR, OUTPUT);
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pinMode(zumbador, OUTPUT);
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pinMode(camara, OUTPUT);
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pinMode(14, INPUT);
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pinMode(15, INPUT);
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pinMode(16, INPUT);
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pinMode(17, INPUT);
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digitalWrite(14, HIGH);
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digitalWrite(15, HIGH);
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digitalWrite(16, HIGH);
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digitalWrite(17, HIGH);
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if (analogRead(bit1)>512) val1=16;
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else val1=0;
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if (analogRead(bit2)>512) val2=32;
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else val2=0;
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if (analogRead(bit3)>512) val3=64;
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else val3=0;
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if (analogRead(bit4)>512) val4=128;
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else val4=0;
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id=val1+val2+val3+val4;
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Serial.print("Hola, soy el robot numero ");
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Serial.println(id);
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}
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void loop()
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{
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for(val = 1 ; val <= 180; val++)
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{
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servoC.write(val);
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Servo::refresh();
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delay(15);
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}
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for(val = 180 ; val > 0; val--)
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{
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servoC.write(val);
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Servo::refresh();
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delay(15);
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}
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}
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