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#include <Arduino.h> | |
int current_pos = 7; | |
int motor_speed = 20; | |
int motor_pins[4] = { 9, 6, 7, 8 }; | |
bool positions[8][4] = { | |
{ 1, 0, 0, 0 }, | |
{ 1, 1, 0, 0 }, | |
{ 0, 1, 0, 0 }, | |
{ 0, 1, 1, 0 }, | |
{ 0, 0, 1, 0 }, | |
{ 0, 0, 1, 1 }, | |
{ 0, 0, 0, 1 }, | |
{ 1, 0, 0, 1 } | |
}; | |
void led( bool state ) { | |
digitalWrite( 13, state ); | |
} | |
void setup() { | |
Serial.begin( 115200 ); | |
for ( int i = 0; i < 4; i++ ) { | |
pinMode( motor_pins[i], OUTPUT ); | |
} | |
} | |
void motor_move( int pos, int steps = 1 ) { | |
if ( pos > 7 ) pos = 7; | |
if ( pos < 0 ) pos = 0; | |
for ( int i = 0; i < ( steps + 1 ); i++ ) { | |
led( 1 ); | |
for ( int ii = 0; ii <4 ; ii++ ) { | |
digitalWrite( motor_pins[ii], positions[pos][ii] ); | |
} | |
delay( motor_speed ); | |
led( 0 ); | |
} | |
} | |
void loop() { | |
if ( Serial.available() > 0 ) { | |
int key_pressed = Serial.read(); | |
bool move = 0; | |
if ( key_pressed == 67 ) { | |
current_pos++; | |
if ( current_pos > 7 ) { | |
current_pos = 0; | |
} | |
move = 1; | |
} | |
if ( key_pressed == 68 ) { | |
current_pos--; | |
if ( current_pos < 0 ) { | |
current_pos = 7; | |
} | |
motor_move( current_pos, 1 ); | |
move = 1; | |
} | |
if ( move ) { | |
motor_move( current_pos, 1 ); | |
Serial.println( current_pos ); | |
} | |
} | |
} |
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