87 lines
1.3 KiB
Plaintext
87 lines
1.3 KiB
Plaintext
#define m1 10
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#define m2 9
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#define led 13
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int count=0;
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int val = 0x00; //Valor entrada serie
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int s0=14;
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int s1=15;
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int s2=16;
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int flag_avan=0;
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int flag_retro=0;
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void setup()
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{
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Serial.begin(9600);
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pinMode(m1, OUTPUT);
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pinMode(m2, OUTPUT);
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pinMode(s0, OUTPUT);
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pinMode(s1, INPUT);
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pinMode(s2, INPUT);
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pinMode(led, OUTPUT);
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digitalWrite(m2, LOW);
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digitalWrite(m1, LOW);
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digitalWrite(led, LOW);
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digitalWrite(s0, LOW);
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digitalWrite(s1, HIGH);
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digitalWrite(s2, HIGH);
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}
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void loop() //run over and over again
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{
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if (Serial.available()) {
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val = Serial.read();
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if (val==0x00)
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{
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flag_avan=1;
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avanza();
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}
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else if (val==0x01)
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{
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flag_retro=1;
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retrocede();
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}
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else if (val==0x02) digitalWrite(led, HIGH);
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else if (val==0x03) digitalWrite(led, LOW);
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}
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if ((flag_retro)&&(!digitalRead(s1)))
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{
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flag_retro=0;
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stop_motores();
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}
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else if ((flag_avan)&&(!digitalRead(s2)))
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{
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flag_avan=0;
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stop_motores();
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}
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//if ((!digitalRead(s1))||(!digitalRead(s2))) stop_motores();
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}
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void stop_motores()
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{
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digitalWrite(m2, LOW);
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digitalWrite(m1, LOW);
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}
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void avanza()
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{
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digitalWrite(m2, LOW);
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digitalWrite(m1, HIGH);
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}
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void retrocede()
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{
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digitalWrite(m2, HIGH);
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digitalWrite(m1, LOW);
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}
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