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작성자 master 작성일2019-11-30 15:43 조회32회 댓글1건
https://www.basic4mcu.com/bbs/board.php?bo_table=gac&wr_id=10979
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// MCU BASIC: https://www.basic4mcu.com// DateTime : 2019-11-30 오후 3:43:20// by Ok-Hyun Park//// 라인트레이서 //// 라인을 따라 움직이도록 하며 중간에 장애물 발견시 정지한다.// 장애물을 치우면 다시 전진하는 코드를 작성할 것const int Left_motor_back=9; //(IN1)const int Left_motor_go=5; //(IN2)const int Right_motor_go=6; //(IN3)const int Right_motor_back=10; //(IN4)const int key=A0,beep=13;const int Echo=12,trig=11;const int SensorRight=A2,SensorLeft=A3;//int SL,SR;float duration,distance;//void setup(){Serial.begin(9600);pinMode(trig,OUTPUT);pinMode(beep,OUTPUT);keysacn(); //키를 누르면 동작 시작}//void run(){analogWrite(Right_motor_go,255); analogWrite(Right_motor_back,0);analogWrite(Left_motor_go ,255); analogWrite(Left_motor_back ,0);}//void brake(){analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);analogWrite(Left_motor_go ,0); analogWrite(Left_motor_back ,0);}//void left(){analogWrite(Right_motor_go,255); analogWrite(Right_motor_back,0);analogWrite(Left_motor_go , 0); analogWrite(Left_motor_back ,0);}//void right(){analogWrite(Right_motor_go, 0); analogWrite(Right_motor_back,0);analogWrite(Left_motor_go ,255); analogWrite(Left_motor_back ,0);}//void back(int time){analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,255);analogWrite(Left_motor_go ,0); analogWrite(Left_motor_back ,255);delay(time*100);}//==========================================================void keysacn(){while(!digitalRead(key)); digitalWrite(beep,HIGH); // 부저 소리 남while( digitalRead(key)); digitalWrite(beep,LOW); // 부저 소리 없음}//void loop(){digitalWrite(trig,HIGH); delayMicroseconds(10); digitalWrite(trig,LOW);duration=pulseIn(Echo,HIGH);distance=((float)(340*duration)/10000)/2;Serial.print("\nDIstance: "); Serial.println(distance);//SR=digitalRead(SensorRight);SL=digitalRead(SensorLeft);if (SL==LOW && SR==LOW )run(); // LOW=센서on // 둘 다 켜졌을 때,전진else if(SL==HIGH && SR==LOW )left(); // 오른쪽만 켜졌을 때,왼쪽 회전else if(SL==LOW && SR==HIGH)right(); // 왼쪽만 켜졌을 때,오른쪽 회전else{ //SL==HIGH && SR==HIGHif(distance<20)brake(); // 장애물 20cm 이내발견되면 정지else run(); // 장애물 치웠을 때,다시 전진}}
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