94 lines
2.3 KiB
Plaintext
94 lines
2.3 KiB
Plaintext
int val = 0 ,val1 = 0,val2 = 0,val3 = 0,val4 = 0;
|
|
int re = 6;
|
|
int av = 3;
|
|
int iz = 5;
|
|
int de = 4;
|
|
int f_re = 0;
|
|
int f_av = 0;
|
|
int f_iz = 0;
|
|
int f_de = 0;
|
|
int f_p = 0;
|
|
int f_o = 0;
|
|
int bit1 = 0;
|
|
int bit2 = 1;
|
|
int bit3 = 2;
|
|
int bit4 = 3;
|
|
|
|
|
|
void setup()
|
|
{
|
|
Serial.begin(19200);
|
|
delay(100);
|
|
pinMode(6, INPUT);
|
|
pinMode(3, INPUT);
|
|
pinMode(5, INPUT);
|
|
pinMode(4, INPUT);
|
|
digitalWrite(6, HIGH);
|
|
digitalWrite(3, HIGH);
|
|
digitalWrite(5, HIGH);
|
|
digitalWrite(4, HIGH);
|
|
/* if (analogRead(bit1)>512) val1=1;
|
|
else val1=0;
|
|
if (analogRead(bit2)>512) val2=2;
|
|
else val2=0;
|
|
if (digitalRead(bit3)>512) val3=4;
|
|
else val3=0;
|
|
if (analogRead(bit4)>512) val4=8;
|
|
else val4=0;
|
|
val=val1+val2+val3+val4;
|
|
Serial.print("Hola, controlo al robot numero ");
|
|
Serial.println(val);*/
|
|
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
if (!digitalRead(av)&&!f_av) {
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
Serial.print(0x0F, BYTE);
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x01, BYTE);
|
|
Serial.print(0x0F, BYTE);
|
|
f_av=1;
|
|
} else if (digitalRead(av)) f_av=0;
|
|
|
|
if (!digitalRead(re)&&!f_re) {
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x01, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
f_re=1;
|
|
} else if (digitalRead(re)) f_re=0;
|
|
|
|
if (!digitalRead(iz)&&!f_iz) {
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x01, BYTE);
|
|
Serial.print(0x0F, BYTE);
|
|
f_iz=1;
|
|
} else if (digitalRead(iz)) f_iz=0;
|
|
|
|
if (!digitalRead(de)&&!f_de) {
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
Serial.print(0x0F, BYTE);
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x01, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
f_de=1;
|
|
} else if (digitalRead(de)) f_de=0;
|
|
|
|
if (digitalRead(av)&&digitalRead(re)&&digitalRead(iz)&&digitalRead(de)&&!f_p) {
|
|
Serial.print(0xF0, BYTE);
|
|
Serial.print(0x09, BYTE);
|
|
Serial.print(0x00, BYTE);
|
|
f_p=1;
|
|
} else if (!digitalRead(av)||!digitalRead(re)||!digitalRead(iz)||!digitalRead(de)) f_p=0;
|
|
}
|
|
|