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arduinocar.ino
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145 lines (124 loc) · 2.96 KB
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#include <SoftwareSerial.h>
#include <Wire.h>
SoftwareSerial CAR_BT(11,12); //定義 PIN11 及 PIN12 分別為 RX 及 TX 腳位
/* Input for leftMotor:
IN1 IN2 Action
LOW LOW Stop
HIGH LOW Forward
LOW HIGH Backward
HIGH HIGH Stop
*/
const int leftMotorIn1 = 5;
const int leftMotorIn2 = 6;
/* Input for rightMotor:
IN3 IN4 Action
LOW LOW Stop
HIGH LOW Forward
LOW HIGH Backward
HIGH HIGH Stop
*/
const int rightMotorIn3 = 9;
const int rightMotorIn4 = 10;
const int ENA = 2;
const int ENB = 3;
void setup()
{
pinMode(leftMotorIn1, OUTPUT);
pinMode(leftMotorIn2, OUTPUT);
pinMode(rightMotorIn3, OUTPUT);
pinMode(rightMotorIn4, OUTPUT);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
digitalWrite(ENA, HIGH);
digitalWrite(ENB, HIGH);
Serial.begin(9600); //Arduino起始鮑率：9600
CAR_BT.begin(9600); //藍牙鮑率：9600 注意！每個藍牙晶片的鮑率都不太一樣，請務必確認
}
void loop()
{
int inSize;
int input;
if( (inSize = (CAR_BT.available())) > 0) { //讀取藍牙訊息
Serial.print("size = ");
Serial.println(inSize);
Serial.print("Input = ");
Serial.println(input = CAR_BT.read());
if( input == 8 ) {
forward();
Serial.println(input);
}
if( input == 2 ) {
backward();
Serial.println(input);
}
if( input == 7 ) {
Fleft();
Serial.println(input);
}
if( input == 9 ) {
Fright();
Serial.println(input);
}
if( input == 1 ) {
Bleft();
Serial.println(input);
}
if( input == 3 ) {
Bright();
Serial.println(input);
}
if( input == 5 ) {
motorstop();
Serial.println(input);
}
}
}
void motorstop()
{
digitalWrite(leftMotorIn1, LOW);
digitalWrite(leftMotorIn2, LOW);
digitalWrite(rightMotorIn3, LOW);
digitalWrite(rightMotorIn4, LOW);
}
void forward()
{
analogWrite(leftMotorIn1, 0);
analogWrite(leftMotorIn2, 255);
analogWrite(rightMotorIn3, 255);
analogWrite(rightMotorIn4, 0);
}
void backward()
{
analogWrite(leftMotorIn1, 255);
analogWrite(leftMotorIn2, 0);
analogWrite(rightMotorIn3, 0);
analogWrite(rightMotorIn4, 255);
}
void Fright()
{
analogWrite(leftMotorIn1, 0);
analogWrite(leftMotorIn2, 255);
analogWrite(rightMotorIn3, 150);
analogWrite(rightMotorIn4, 0);
}
void Fleft()
{
analogWrite(leftMotorIn1, 0);
analogWrite(leftMotorIn2, 150);
analogWrite(rightMotorIn3, 255);
analogWrite(rightMotorIn4, 0);
}
void Bright()
{
analogWrite(leftMotorIn1, 255);
analogWrite(leftMotorIn2, 0);
analogWrite(rightMotorIn3, 0);
analogWrite(rightMotorIn4, 150);
}
void Bleft()
{
analogWrite(leftMotorIn1, 150);
analogWrite(leftMotorIn2, 0);
analogWrite(rightMotorIn3, 0);
analogWrite(rightMotorIn4, 255);
}