Philipp Lopinski - Motor

Motorprogramm - Abstandsmesser

 

// Das Programm bewirkt, dass kurz bevor der Arduino irgendwo gegenstößt oder herunterfällt, stehen bleibt.

#include <AFMotor.h>

AF_DCMotor motor1(1, MOTOR12_64KHZ);
AF_DCMotor motor2(2, MOTOR12_64KHZ);

#define MOT1 6
#define DIR1 7
#define MOT2 5
#define DIR2 4

#define FORW 1
#define BACK 0
float Ausgleich = 0.9;

int sensor = 10;

void setup() {
  pinMode(DIR1, OUTPUT);
  pinMode(DIR2, OUTPUT);
  pinMode(MOT1, OUTPUT);
  pinMode(MOT2, OUTPUT);
  pinMode(sensor, INPUT);
  forward(20000);
  delay(5000); 
  backward(20000);
  delay(5000);
}

void forward(float Speed) {
  float Speed1 = Speed*Ausgleich;
  digitalWrite(DIR1, FORW);
  digitalWrite(DIR2, FORW);
  analogWrite(MOT1, Speed);
  analogWrite(MOT2, Speed1);
}

void backward(float Speed) {
  float Speed2 = Speed*Ausgleich;
  digitalWrite(DIR1, BACK);
  digitalWrite(DIR2, BACK);
  analogWrite(MOT1, Speed);
  analogWrite(MOT2, Speed2);
}

void loop() {
 if(digitalRead(sensor) == LOW){
   motor1.run(RELEASE);
   motor2.run(RELEASE);
 }
 else{
  motor1.run(FORWARD);
  motor2.run(FORWARD);
 }
}