11/30/2016 ロボ足駆動プログラム

① 足部モーター３つ駆動プログラム

int lefta = 8;

int righta = 9;

int leftb =10;

int rightb =11;

int leftc =12;

int rightc =13;

void setup() {

Serial.begin(9600);    

pinMode(lefta, OUTPUT);

pinMode(righta, OUTPUT);

pinMode(leftb, OUTPUT);

pinMode(rightb, OUTPUT);

pinMode(leftc, OUTPUT);

pinMode(rightc,OUTPUT);

}

void loop() {

  if(Serial.available()){

  char cmd = Serial.read();

    

switch (cmd){  

case 'w':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb, 200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

Serial.print(F("a\n"));

break;

case 's':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'd':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'a':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

case 'z':

analogWrite(righta, 200);

analogWrite(lefta, 0);

analogWrite(rightb,200);

analogWrite(leftb, 0);

analogWrite(rightc, 200);

analogWrite(leftc, 0);

break;

default://case'o':

analogWrite(righta, 0);

analogWrite(lefta, 0);

analogWrite(rightb, 0);

analogWrite(leftb, 0);

analogWrite(rightc,0);

analogWrite(leftc, 0);

break;

}

   }

Serial.print("righta = ");

Serial.print(digitalRead(righta));

Serial.print("   lefta = ");

Serial.println(digitalRead(lefta));

}