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Copy path15001_sample.ino
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15001_sample.ino
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int en[3] = {10,5,11};
int in1[3] = {9,7,13};
int in2[3] = {8,6,12};
void setup() {
for(int i = 0; i < 3; i++){
pinMode(en[i], OUTPUT);
pinMode(in1[i], OUTPUT);
pinMode(in2[i], OUTPUT);
}
Serial.begin(9600);
}
void goForward(int speed, int time) {
digitalWrite(in1[0], HIGH);
digitalWrite(in2[0], LOW);
digitalWrite(in1[1], LOW);
digitalWrite(in2[1], HIGH);
digitalWrite(in1[2], LOW);
digitalWrite(in2[2], LOW);
for(int i = 0; i < 3; i++){
analogWrite(en[i], speed);
}
delay(time);
}
void goBack(int speed, int time) {
digitalWrite(in1[0], LOW);
digitalWrite(in2[0], HIGH);
digitalWrite(in1[1], HIGH);
digitalWrite(in2[1], LOW);
digitalWrite(in1[2], LOW);
digitalWrite(in2[2], LOW);
for(int i = 0; i < 3; i++){
analogWrite(en[i], speed);
}
delay(time);
}
void goLeft(int speed, int time) {
digitalWrite(in1[0], LOW);
digitalWrite(in2[0], HIGH);
analogWrite(en[0], speed/5);
digitalWrite(in1[1], LOW);
digitalWrite(in2[1], HIGH);
analogWrite(en[1], speed/5);
digitalWrite(in1[2], LOW);
digitalWrite(in2[2], HIGH);
analogWrite(en[2], speed);
delay(time);
}
void goRight(int speed, int time) {
digitalWrite(in1[0], HIGH);
digitalWrite(in2[0], LOW);
analogWrite(en[0], speed/5);
digitalWrite(in1[1], HIGH);
digitalWrite(in2[1], LOW);
analogWrite(en[1], speed/5);
digitalWrite(in1[2], HIGH);
digitalWrite(in2[2], LOW);
analogWrite(en[2], speed);
delay(time);
}
void goUpLeft(int speed, int time) {
digitalWrite(in1[0], HIGH);
digitalWrite(in2[0], LOW);
analogWrite(en[0], speed/7);
digitalWrite(in1[1], LOW);
digitalWrite(in2[1], HIGH);
analogWrite(en[1], speed);
digitalWrite(in1[2], LOW);
digitalWrite(in2[2], HIGH);
analogWrite(en[2], speed/3);
delay(time);
}
void goUpRight(int speed, int time) {
digitalWrite(in1[0], HIGH);
digitalWrite(in2[0], LOW);
analogWrite(en[0], speed);
digitalWrite(in1[1], LOW);
digitalWrite(in2[1], HIGH);
analogWrite(en[1], speed/7);
digitalWrite(in1[2], HIGH);
digitalWrite(in2[2], LOW);
analogWrite(en[2], speed/3);
delay(time);
}
void goDownLeft(int speed, int time) {
digitalWrite(in1[0], LOW);
digitalWrite(in2[0], HIGH);
analogWrite(en[0], speed);
digitalWrite(in1[1], HIGH);
digitalWrite(in2[1], LOW);
analogWrite(en[1], speed/7);
digitalWrite(in1[2], LOW);
digitalWrite(in2[2], HIGH);
analogWrite(en[2], speed/3);
delay(time);
}
void goDownRight(int speed, int time) {
digitalWrite(in1[0], LOW);
digitalWrite(in2[0], HIGH);
analogWrite(en[0], speed/7);
digitalWrite(in1[1], HIGH);
digitalWrite(in2[1], LOW);
analogWrite(en[1], speed);
digitalWrite(in1[2], HIGH);
digitalWrite(in2[2], LOW);
analogWrite(en[2], speed/3);
delay(time);
}
void moveStop(int time) {
for(int i = 0; i < 3; i++){
digitalWrite(in1[i], LOW);
digitalWrite(in2[i], LOW);
}
delay(time);
}
void demoActions() {
moveStop(3000);
goForward(100,1000);
moveStop(1000);
goBack(100,1000);
moveStop(1000);
goLeft(100,1000);
moveStop(1000);
goRight(100,1000);
moveStop(1000);
goUpRight(100,1000);
moveStop(1000);
goUpLeft(100,1000);
moveStop(1000);
goDownRight(100,1000);
moveStop(1000);
goDownLeft(100,1000);
moveStop(1000);
}
void loop() {
demoActions();
delay(1000);
}