[promig]

No to jeszcze kod programu daj

Kod:

//Version 2.1 By Owen Sobel
#define in1 5 //L298n Motor Driver pins.
#define in2 6
#define in3 10
#define in4 11
#define LED 13
int command; //Int to store app command state.
int Speed = 204; // 0 - 255.
int Speedsec;
int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note:the robot will malfunction if this is higher than int Speed, if it is, pin13 will be HIGH. Useful for debugging.
int button; //  Store how many times a button has been pressed.
void setup() {
 pinMode(in1, OUTPUT);
 pinMode(in2, OUTPUT);
 pinMode(in3, OUTPUT);
 pinMode(in4, OUTPUT);
 pinMode(LED, OUTPUT); //Set the LED pin.
 Serial.begin(9600);  //Set the baud rate to your Bluetooth module.
}

void loop() {
 if (Turnradius > Speed) {
   Serial.write("Error : Code 01 ");
   digitalWrite(LED, HIGH);
   delay(1000);
 }
 else {
   digitalWrite(LED, LOW);
 }

 if (Speed > 255) {
   Serial.write("Error : Code 02 ");
   digitalWrite(LED, HIGH);
   delay(1000);
 }
 else {
   digitalWrite(LED, LOW);
 }
 Button();
 if (Serial.available() > 0) {
   command = Serial.read();
   Stop(); //Initialize with motors stoped.
   switch (command) {
     case 'F':
       forward();
       button = button + 1;
       break;
     case 'B':
       back();
       button = button + 1;
       break;
     case 'L':
       left();
       button = button + 1;
       break;
     case 'R':
       right();
       button = button + 1;
       break;
     case 'G':
       forwardleft();
       button = button + 1;
       break;
     case 'I':
       forwardright();
       button = button + 1;
       break;
     case 'H':
       backleft();
       button = button + 1;
       break;
     case 'J':
       backright();
       button = button + 1;
       break;
     case '0':
       Speed = 100;
       break;
     case '1':
       Speed = 140;
       break;
     case '2':
       Speed = 153;
       break;
     case '3':
       Speed = 165;
       break;
     case '4':
       Speed = 178;
       break;
     case '5':
       Speed = 191;
       break;
     case '6':
       Speed = 204;
       break;
     case '7':
       Speed = 216;
       break;
     case '8':
       Speed = 229;
       break;
     case '9':
       Speed = 242;
       break;
     case 'q':
       Speed = 255;
       break;
     case 'X':
       Auto();
       break;
     case 'x':
       Manual();
       break;
   }

   Speedsec = Turnradius;
 }
}
void Button () {
 Serial.print("button = ");
 Serial.print(button);
 Serial.println(" ");
 delay(300);
}

void forward() {
 analogWrite(in1, Speed);
 analogWrite(in3, Speed);
}

void back() {
 analogWrite(in2, Speed);
 analogWrite(in4, Speed);
}

void left() {
 analogWrite(in3, Speed);
 analogWrite(in2, Speed);
}

void right() {
 analogWrite(in4, Speed);
 analogWrite(in1, Speed);
}
void forwardleft() {
 analogWrite(in1, Speedsec);
 analogWrite(in3, Speed);
}
void forwardright() {
 analogWrite(in1, Speed);
 analogWrite(in3, Speedsec);
}
void backright() {
 analogWrite(in2, Speed);
 analogWrite(in4, Speedsec);
}

void backleft() {
 analogWrite(in2, Speedsec);
 analogWrite(in4, Speed);
}

void Stop() {
 analogWrite(in1, 0);
 analogWrite(in2, 0);
 analogWrite(in3, 0);
 analogWrite(in4, 0);
}