45 lines
1.8 KiB
C++
Executable File
45 lines
1.8 KiB
C++
Executable File
// Robotics with the BOE Shield - ForwardLeftRightBackward
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// Move forward, left, right, then backward for testing and tuning.
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#include <Servo.h> // Include servo library
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Servo servoLeft; // Declare left and right servos
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Servo servoRight;
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void setup() // Built-in initialization block
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{
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tone(4, 3000, 1000); // Play tone for 1 second
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delay(1000); // Delay to finish tone
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servoLeft.attach(13); // Attach left signal to pin 13
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servoRight.attach(12); // Attach right signal to pin 12
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// Full speed forward
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servoLeft.writeMicroseconds(1700); // Left wheel counterclockwise
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servoRight.writeMicroseconds(1300); // Right wheel clockwise
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delay(2000); // ...for 2 seconds
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// Turn left in place
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servoLeft.writeMicroseconds(1300); // Left wheel clockwise
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servoRight.writeMicroseconds(1300); // Right wheel clockwise
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delay(600); // ...for 0.6 seconds
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// Turn right in place
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servoLeft.writeMicroseconds(1700); // Left wheel counterclockwise
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servoRight.writeMicroseconds(1700); // Right wheel counterclockwise
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delay(600); // ...for 0.6 seconds
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// Full speed backward
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servoLeft.writeMicroseconds(1300); // Left wheel clockwise
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servoRight.writeMicroseconds(1700); // Right wheel counterclockwise
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delay(2000); // ...for 2 seconds
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servoLeft.detach(); // Stop sending servo signals
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servoRight.detach();
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}
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void loop() // Main loop auto-repeats
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{ // Empty, nothing needs repeating
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}
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