Created
December 6, 2010 14:52
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シリアル通信モーター制御(Arduino)
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int sig = 0; | |
int led = -1; | |
int spd=255; //1~255の値にする | |
void setup(){ | |
Serial.begin(4800); | |
pinMode(2,OUTPUT);//左モーター用ドライバピン | |
pinMode(4,OUTPUT);//左モーター用ドライバピン | |
pinMode(7,OUTPUT); //右モーター用ドライバピン | |
pinMode(8,OUTPUT); //右モーター用ドライバピン | |
pinMode(13,OUTPUT); | |
motor_stop(); | |
ledOff(); | |
} | |
void ledOn(){ | |
digitalWrite(13,HIGH); | |
Serial.println("led_on"); | |
} | |
void ledOff(){ | |
digitalWrite(13,LOW); | |
Serial.println("led_off"); | |
} | |
void motor_stop(){ | |
digitalWrite(2,LOW); | |
digitalWrite(4,LOW); | |
analogWrite(5,1); | |
digitalWrite(7,LOW); | |
digitalWrite(8,LOW); | |
analogWrite(9,1); | |
Serial.println("motor_stop"); | |
} | |
void motor_go(){ | |
digitalWrite(2,HIGH); | |
digitalWrite(4,LOW); | |
analogWrite(5,spd); | |
digitalWrite(7,HIGH); | |
digitalWrite(8,LOW); | |
analogWrite(9,spd); | |
Serial.println("motor_go"); | |
} | |
void motor_back(){ | |
digitalWrite(2,LOW); | |
digitalWrite(4,HIGH); | |
analogWrite(5,spd); | |
digitalWrite(7,LOW); | |
digitalWrite(8,HIGH); | |
analogWrite(9,spd); | |
Serial.println("motor_back"); | |
} | |
void motor_left(){ | |
digitalWrite(2,HIGH); | |
digitalWrite(4,LOW); | |
analogWrite(5,spd); | |
digitalWrite(7,LOW); | |
digitalWrite(8,HIGH); | |
analogWrite(9,spd); | |
Serial.println("motor_right"); | |
} | |
void motor_right(){ | |
digitalWrite(2,LOW); | |
digitalWrite(4,HIGH); | |
analogWrite(5,spd); | |
digitalWrite(7,HIGH); | |
digitalWrite(8,LOW); | |
analogWrite(9,spd); | |
Serial.println("motor_left"); | |
} | |
void loop(){ | |
if(Serial.available()>0){//データの読み込み | |
sig=Serial.read(); | |
switch(sig){ | |
case 'a': | |
motor_go(); | |
delay(5000); | |
motor_stop(); | |
break; | |
case 'b': | |
motor_back(); | |
delay(5000); | |
motor_stop(); | |
break; | |
case 'c': | |
motor_left(); | |
delay(5000); | |
motor_stop(); | |
break; | |
case 'd': | |
motor_right(); | |
delay(5000); | |
motor_stop(); | |
break; | |
case 'e': | |
led = led * (-1); | |
if(led<=0){ ledOff();} | |
else{ ledOn();} | |
break; | |
} | |
} | |
} |
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