Paso 3: Programación arduino
101. UARTReveived = 0;
102} 103. } 104. } 105. 106. //CAR MOVIMIENTOS 107. anular carGoFwd() 108. {109. motorL.setSpeed(motor_speed); 110. motorR.setSpeed(motor_speed); 111. motorL.run(FORWARD); 112. motorR.run(FORWARD); 113. Serial.print("forward"); 114. delay(motor_delay); 115} 116. anular carGoBwd() 117. {118. motorL.setSpeed(motor_speed); 119. motorR.setSpeed(motor_speed); 120. motorL.run(BACKWARD); 121. motorR.run(BACKWARD); 122. Serial.print("Backward"); 123. delay(motor_delay); 124} 125. anular carTurnL() 126. {
127. motorL.setSpeed(motor_speed); 128. motorR.setSpeed(motor_speed); 129. motorL.run(BACKWARD); 130. motorR.run(FORWARD); 131. delay(motor_delay); 132. Serial.print("TurnL"); 133} 134. anular carTurnR() 135. {136. motorL.setSpeed(motor_speed); 137. motorR.setSpeed(motor_speed); 138. motorL.run(FORWARD); 139. motorR.run(BACKWARD); 140. delay(motor_delay); 141. Serial.print("TurnR"); 142} 143. anular carStop() 144. {145. b_motor_stop(); 146. Serial.print("carStop"); 147. delay(5); 148} 149. VELOCIDAD DEL COCHE 150. anular CHNSpeed(int wheelDIR, int wheelSpeed) 151. {152. if(wheelDIR == 0X01) //LEFT rueda 153. {154. motorL.setSpeed(wheelSpeed); 155} 156. otra cosa if(wheelDIR == 0X02) //RIGHT rueda 157. {158. motorR.setSpeed(wheelSpeed); 159} 160. } 161. SERVO GIRE A 162. void servoSet (int servoNum, int pos) 163. {164. if(pos > 180) pos = 160; 165. else if (pos < 0) pos = 0; 166. switch(servoNum) 167. {168. caso 0X07: 169. hand_t_servo.write(pos); 170. Serial.print("X"); 171. Serial.print(pos); 172. rotura; 173. el caso 0X08: 174. hand_d_servo.Write(POS); 175. Serial.print("Y"); 176. Serial.print(pos); 177. rotura; 178} 179. } 180. void setup() 181. {182. Serial.begin(9600); 183. b_motor_stop(); 184. b_servo_ini(); 185. / / delay(2000); tiempo de espera 186. Serial.println ("¡ Hola! WiFi coche"); 187} 188. 189. void b_motor_stop() {190. motorL.run(RELEASE); 191. motorR.run(RELEASE); 192} 193. 194. void b_servo_ini() {195. hand_t_servo.attach(9); / / conecta el servo en el pin 9 al objeto servo 196. hand_d_servo.attach(10); / / conecta el servo en el pin 10 al objeto servo 197. hand_t_servo.write(hand_t_pos); 198. hand_d_servo.write(hand_d_pos); 199.}
