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batman.ino
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103 lines (90 loc) · 1.82 KB
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#define l2r A4 // left sensor
#define l1r A3
#define cr A2
#define r1r A1
#define r2r A0
/*-------definning Outputs------*/
#define LM1 3 // left motor
#define LM2 4 // left motor
#define RM1 6 // right motor
#define RM2 7 // right motor
int k=500;
int d=3000;
int lg=0;
void setup()
{
pinMode(l2r, INPUT);
pinMode(l1r, INPUT);
pinMode(cr, INPUT);
pinMode(r1r, INPUT);
pinMode(r2r, INPUT);
pinMode(LM1, OUTPUT);
pinMode(LM2, OUTPUT);
pinMode(RM1, OUTPUT);
pinMode(RM2, OUTPUT);
Serial.begin(9600);
}
void straight(){
digitalWrite(LM1, LOW);//straight//
digitalWrite(LM2, HIGH);
digitalWrite(RM1, LOW);
digitalWrite(RM2, HIGH);
}
void turnleft(){
digitalWrite(LM1, LOW);
digitalWrite(LM2, LOW);
digitalWrite(RM1, LOW);
digitalWrite(RM2, HIGH);
}
void turnright(){
digitalWrite(LM1, LOW);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, LOW);
digitalWrite(RM2, LOW);
}
void uturn(){
turnright();
delay(k);
turnright();
delay(k);
}
void loop() {
if(lg==0){
straight();
straight();
delay(4*k);
uturn();
straight();
delay(3*k);
turnright();
delay(k);
turnleft();
delay(k);
straight();
delay(3*k);
uturn();
straight();
delay(3*k);
turnleft();
delay(k);
straight();
delay(k);
turnleft();
delay(k);
straight();
delay(k);
uturn();
straight();
delay(3*k);
straight();
delay(3*k);
lg=1;}
else{
digitalWrite(LM1, LOW);//straight//
digitalWrite(LM2, LOW);
digitalWrite(RM1, LOW);
digitalWrite(RM2, LOW);
delay(10000);
}
// put your main code here, to run repeatedly:
}