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* OTOKON ROBOTICS
* ARAZI KATEGORISI IZTECH
* ESEKARISI V1.6
* EGER 1.5 TERSSE BUNU CALISTIR
*/
int ch1; // sag sol
int ch3; // ileri geri
int ch5; // reverse
float vehicle_speed = 0;
float vehicle_speed_reverse = 0;
float vehicle_direction = 0;
int reverse_state = 0;
float K = 1.2; //BU KATSAYIYI DEGISTIREREK TOPLAM HIZI ARTIRABILIRSIN
#define LeftBackIN1 2
#define LeftBackIN2 4
#define LeftBackEN 3
#define RightBackIN1 5
#define RightBackIN2 7
#define RightBackEN 6
#define LeftFrontIN1 8
#define LeftFrontIN2 9
#define LeftFrontEN 10
#define RightFrontIN1 12
#define RightFrontIN2 13
#define RightFrontEN 11
void setup() {
pinMode(A0, INPUT);
pinMode(A1, INPUT);
pinMode(A2, INPUT);
pinMode(LeftBackIN1, OUTPUT);
pinMode(LeftBackIN2, OUTPUT);
pinMode(LeftBackEN, OUTPUT);
pinMode(LeftFrontIN1, OUTPUT);
pinMode(LeftFrontIN2, OUTPUT);
pinMode(LeftFrontEN, OUTPUT);
pinMode(RightBackIN1, OUTPUT);
pinMode(RightBackIN2, OUTPUT);
pinMode(RightBackEN, OUTPUT);
pinMode(RightFrontIN1, OUTPUT);
pinMode(RightFrontIN2, OUTPUT);
pinMode(RightFrontEN, OUTPUT);
}
void loop() {
process();
float m = (vehicle_speed + vehicle_direction)*K;
float n = (vehicle_speed - vehicle_direction)*K;
if(m >= 255)
m = 255;
else if (m <= 0)
m = 0;
if(n >= 255)
n = 255;
else if (n <= 0)
n = 0;
if(reverse_state == 0){
if(vehicle_direction >= 118){
turnright(255,255);
}else if(vehicle_direction <= -118){
turnleft(255,255);
}else{
drive(m,n);
}
}
else if(reverse_state == 1){
if(vehicle_direction >= 118){
turnright(255,255);
}else if(vehicle_direction < -118){
turnleft(255,255);
}else{
drive(m,n);
}
}
}
void process (){
ch1 = pulseIn(A0, HIGH, 25000);
ch3 = pulseIn(A1, HIGH, 25000);
ch5 = pulseIn(A2, HIGH, 25000);
vehicle_direction = map(ch1, 1080,1907, -127, +127);
if(ch5 <= 1450){
reverse_state = 0;
vehicle_speed = map(ch3, 1076, 1906, 0, 255);
} else{
reverse_state = 1;
vehicle_speed = map(ch3, 1076, 1906, 0, 127);
}
}
void drive(float left, float right){
analogWrite(LeftFrontEN, left);
digitalWrite(LeftFrontIN1, HIGH); // ö o
digitalWrite(LeftFrontIN2, LOW); // o o
analogWrite(LeftBackEN, left);
digitalWrite(LeftBackIN1, HIGH); // o o
digitalWrite(LeftBackIN2, LOW); // ö o
analogWrite(RightFrontEN, right);
digitalWrite(RightFrontIN1, HIGH); // o ö
digitalWrite(RightFrontIN2, LOW); // o o
analogWrite(RightBackEN, right);
digitalWrite(RightBackIN1, HIGH); // o o
digitalWrite(RightBackIN2, LOW); // o ö
}
void drive_reverse(float left, float right){
analogWrite(LeftFrontEN, left);
digitalWrite(LeftFrontIN1, LOW); // ö o
digitalWrite(LeftFrontIN2, HIGH); // o o
analogWrite(LeftBackEN, left);
digitalWrite(LeftBackIN1, LOW); // o o
digitalWrite(LeftBackIN2, HIGH); // ö o
analogWrite(RightFrontEN, right);
digitalWrite(RightFrontIN1, LOW); // o ö
digitalWrite(RightFrontIN2, HIGH); // o o
analogWrite(RightBackEN, right);
digitalWrite(RightBackIN1, LOW); // o o
digitalWrite(RightBackIN2, HIGH); // o ö
}
void turnleft(float left, float right){
analogWrite(LeftFrontEN, left);
digitalWrite(LeftFrontIN1, HIGH); // ö o
digitalWrite(LeftFrontIN2, LOW); // o o
analogWrite(LeftBackEN, left);
digitalWrite(LeftBackIN1, HIGH); // o o
digitalWrite(LeftBackIN2, LOW); // ö o
analogWrite(RightFrontEN, right);
digitalWrite(RightFrontIN1, LOW); // o ö
digitalWrite(RightFrontIN2, HIGH); // o o
analogWrite(RightBackEN, right);
digitalWrite(RightBackIN1, LOW); // o o
digitalWrite(RightBackIN2, HIGH); // o ö
}
void turnright(float left, float right){
analogWrite(LeftFrontEN, left);
digitalWrite(LeftFrontIN1, LOW); // ö o
digitalWrite(LeftFrontIN2, HIGH); // o o
analogWrite(LeftBackEN, left);
digitalWrite(LeftBackIN1, LOW); // o o
digitalWrite(LeftBackIN2, HIGH); // ö o
analogWrite(RightFrontEN, right);
digitalWrite(RightFrontIN1, HIGH); // o ö
digitalWrite(RightFrontIN2, LOW); // o o
analogWrite(RightBackEN, right);
digitalWrite(RightBackIN1, HIGH); // o o
digitalWrite(RightBackIN2, LOW); // o ö
}
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