Laboratorio 13- Carrito

PROGRAMACIÓN DEL CARRITO ARDUINO

CÓDIGO FUENTE

/*define logic control output pin*/

int in1=9;

int in2=8;

int in3=7;

int in4=6;

/*define channel enable output pins*/

int ENA=10;

int ENB=5;

/*define forward function*/

void _mForward()

{ 

  digitalWrite(ENA,HIGH);

  digitalWrite(ENB,HIGH);

  digitalWrite(in1,LOW);//digital output

  digitalWrite(in2,HIGH);

  digitalWrite(in3,LOW);

  digitalWrite(in4,HIGH);

  Serial.println("Forward");

}

/*define back function*/

void _mBack()

{

  digitalWrite(ENA,HIGH);

  digitalWrite(ENB,HIGH);

  digitalWrite(in1,HIGH);

  digitalWrite(in2,LOW);

  digitalWrite(in3,HIGH);

  digitalWrite(in4,LOW);

  Serial.println("Back");

}

/*define left function*/

void _mleft()

{

  digitalWrite(ENA,HIGH);

  digitalWrite(ENB,HIGH);

  digitalWrite(in1,LOW);

  digitalWrite(in2,HIGH);

  digitalWrite(in3,HIGH);

  digitalWrite(in4,LOW);

  Serial.println("Left");

}

/*define right function*/

void _mright()

{

  digitalWrite(ENA,HIGH);

  digitalWrite(ENB,HIGH);

  digitalWrite(in1,HIGH);

  digitalWrite(in2,LOW);

  digitalWrite(in3,LOW);

  digitalWrite(in4,HIGH);

  Serial.println("Right");

}

void detener(){

  digitalWrite(ENA,HIGH);

  digitalWrite(ENB,HIGH);

  digitalWrite(in1,LOW);

  digitalWrite(in2,LOW);

  digitalWrite(in3,LOW);

  digitalWrite(in4,LOW);

  Serial.println("Detener");

  

}

/*put your setup code here, to run once*/

void setup() {

 Serial.begin(9600); //Open the serial port and set the baud rate to 9600

/*Set the defined pins to the output*/

  pinMode(in1,OUTPUT);

  pinMode(in2,OUTPUT);

  pinMode(in3,OUTPUT);

  pinMode(in4,OUTPUT);

  pinMode(ENA,OUTPUT);

  pinMode(ENB,OUTPUT);

}

void up(){

  _mForward();

  delay(500);

}

void der(){

  _mright();

  delay(300);

  detener();

  delay(200);

  _mForward();

  delay(500);

}

void izq(){

  _mleft();

  delay(300);

  detener();

  delay(200);

  _mForward();

  delay(500);

}

/*put your main code here, to run repeatedly*/

void loop() {

up();

der();

up();

izq();

izq();

izq();

up();

der();

detener();

while(true){}

}

VIDEO DEMOSTRACIÓN