[MarcinTe]

Czesc,
Robie wozek inwalidzki oparty na 2 silnikach, joystick porusza wozek, przycisk obraca go w miejscu, wszystko dziala.
Problem w tym ze joystick jest maly i silniki bardzo agresywnie reaguja, chcialbym zeby po natychmiastowym wychyleniu do przodu predkosc nie skoczyla od razu do wartosci maksymalnej tylko chwile plynnie do niej dochodzila. Bede wdzieczny za pomoc w modyfikacji ponizszego kodu. Dzieki.

Kod:

// FINAL Z 1 PRZYCISKIEM ENDER 3

// Button

const int switchPin = 2;
int switchValue;
 
// Motor A

int enA = 9;
int in1 = 8;
int in2 = 7;

// Motor B

int enB = 3;
int in3 = 5;
int in4 = 4;

// Joystick Input

int joyVert = A0; // Vertical 
int joyHorz = A1; // Horizontal

// Motor Speed Values - Start at zero

int MotorSpeed1 = 0;
int MotorSpeed2 = 0;

// Joystick Values - Start at 512 (middle position)

int joyposVert = 512;
int joyposHorz = 512; 


void setup()

{

   Serial.begin(9600);
  
//button
  
pinMode(switchPin, INPUT_PULLUP);
 
  // Set all the motor control pins to outputs

  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
  // Start with motors disabled and direction forward
 
  // Motor A
 
  digitalWrite(enA, LOW);
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
 
  // Motor B
 
  digitalWrite(enB, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
 
}

void loop() {

// button state

   switchValue = digitalRead(switchPin);

if (switchValue==1) {

  // Read the Joystick X and Y positions

  joyposVert = analogRead(joyVert);
  joyposHorz = analogRead(joyHorz);

  // Determine if this is a forward or backward motion
  // Do this by reading the Verticle Value
  // Apply results to MotorSpeed and to Direction

  if (joyposVert < 460)
  {
    // This is Backward

    // Set Motor A backward

    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);

    // Set Motor B backward

    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);

    //Determine Motor Speeds

    // As we are going backwards we need to reverse readings

    joyposVert = joyposVert - 460; // This produces a negative number
    joyposVert = joyposVert * -1;  // Make the number positive

   MotorSpeed1 = map(joyposVert, 0, 460, 0, 255);
   MotorSpeed2 = map(joyposVert, 0, 460, 0, 255);


  }
  else if (joyposVert > 564)
  {
    // This is Forward

    // Set Motor A forward

    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);

    // Set Motor B forward

    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);

    //Determine Motor Speeds

   MotorSpeed1 = map(joyposVert, 564, 1023, 0, 255);
   MotorSpeed2 = map(joyposVert, 564, 1023, 0, 255);


  }
  else
  {
    // This is Stopped

    MotorSpeed1 = 0;
    MotorSpeed2 = 0;

  }
 
  // Now do the steering
  // The Horizontal position will "weigh" the motor speed
  // Values for each motor



  if (joyposHorz < 460)
  {
    // Move Left

    // As we are going left we need to reverse readings

    joyposHorz = joyposHorz - 460; // This produces a negative number
    joyposHorz = joyposHorz * -1;  // Make the number positive

    // Map the number to a value of 255 maximum

   joyposHorz = map(joyposHorz, 0, 460, 0, 255);

   

    MotorSpeed1 = MotorSpeed1 - joyposHorz;
    MotorSpeed2 = MotorSpeed2 + joyposHorz;

    // Don't exceed range of 0-255 for motor speeds

    if (MotorSpeed1 < 0)MotorSpeed1 = 0;
   if (MotorSpeed2 > 255)MotorSpeed2 = 255;


  }
  else if (joyposHorz > 564)
  {
    // Move Right

    // Map the number to a value of 255 maximum

   joyposHorz = map(joyposHorz, 564, 1023, 0, 255);

  
       

    MotorSpeed1 = MotorSpeed1 + joyposHorz;
    MotorSpeed2 = MotorSpeed2 - joyposHorz;

    // Don't exceed range of 0-255 for motor speeds

   if (MotorSpeed1 > 255)MotorSpeed1 = 255;
   
    if (MotorSpeed2 < 0)MotorSpeed2 = 0;     

  }


  // Adjust to prevent "buzzing" at very low speed

if (MotorSpeed1 < 10)MotorSpeed1 = 0;
if (MotorSpeed2 < 10)MotorSpeed2 = 0;

}
else if (switchValue==0) {


  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  MotorSpeed1=150;
  // Motor B
 

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
MotorSpeed2=150;
}

  // Set the motor speeds

  analogWrite(enA, MotorSpeed1);
  analogWrite(enB, MotorSpeed2);

  
Serial.print("X: ");
  Serial.print(MotorSpeed1);
   Serial.print(" Y: ");
  Serial.print(MotorSpeed2);
  Serial.print(" Button: ");
  Serial.println(switchValue);
 

}