103 lines
1.6 KiB
Plaintext
103 lines
1.6 KiB
Plaintext
#include <Wire.h>
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#include <hmc6352.h>
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#include <SoftwareServo.h>
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SoftwareServo servoA;
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SoftwareServo servoB;
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Hmc6352 hmc6352;
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//Control Shift register
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#define latchPin 13
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#define clockPin 12
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#define dataPin 11
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//Salidas Shift register
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#define IR 0 //Resistencia 56 Ohm
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#define INPUT1 1
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#define INPUT2 2
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#define INPUT3 3
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#define INPUT4 4
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#define servo_on 5
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#define camara_on 6
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#define buzzer 7
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#define min_level 702
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#define max_level 984
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//Entradas digitales
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#define CTS 4
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#define bit0 5
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#define bit1 6
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#define bit2 7
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#define bit3 8
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//Salidas digitales
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#define speed1 10
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#define speed2 9
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//Entradas analogicas
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#define vbat 3
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#define sensor1 7
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#define sensor2 0
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#define sensor3 1
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#define sensor4 2
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int val_shift = 0x00; //Valor del shift register
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int id = 0; //Identificador de la placa
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int id0 = 0;
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int id1 = 0;
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int id2 = 0;
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int id3 = 0;
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float angulo = 0;
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float angulo_act = 0;
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float angulo_ant = 0;
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float angulo_neg = 0;
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float angulo_pos = 0;
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int val = 0x00; //Valor entrada serie
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int n_bat = 0;
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int Command_ok=0;
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int mensaje_ok=0;
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int dat = 0;
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int command = 0;
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int count = 0;
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int frec = 0;
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int activa = 0;
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int flag_giro=1;
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int stop_flag=0;
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unsigned long time=0;
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unsigned long time_ant=0;
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unsigned long time_max=0;
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unsigned long time_correc=0;
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unsigned long time_stop=0;
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unsigned long time_servo=0;
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int datd = 0;
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int dati = 0;
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int pos = 90;
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int inc = 1;
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int neg_sig=0;
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int pos_sig=0;
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void setup()
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{
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Serial.begin(19200);
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}
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void loop() //run over and over again
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{
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n_bat=analogRead(vbat);
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Serial.print(n_bat);
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}
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