77 lines
1.7 KiB
C++
77 lines
1.7 KiB
C++
#include <Arduino.h>
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#include "motor.h"
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char sensorpins[] = {13, 14, 27, 26, 25, 33, 32};
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int values[7];
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int average;
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int threshold = 500;
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Motor left(22, 23, 0);
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Motor right(19, 21, 1);
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void setup() {
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// put your setup code here, to run once:
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Serial.begin(9600);
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// pinMode(22, OUTPUT);
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// pinMode(23, OUTPUT);
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// pinMode(19, OUTPUT);
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// pinMode(21, OUTPUT);
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// digitalWrite(22, LOW);
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// digitalWrite(23, LOW);
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// digitalWrite(19, LOW);
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// digitalWrite(21, LOW);
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left.forward(255);
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right.forward(255);
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}
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void loop() {
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// put your main code here, to run repeatedly:
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static int leftspeed = 0;
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static int rightspeed = 0;
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for(int i=0;i<7;i++) {
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values[i] = analogRead(sensorpins[i]);
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average += values[i];
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average >>= 1;
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//Serial.printf("%i ", values[i]);
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if(values[i] > average + threshold ) {
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Serial.print(" 1 ");
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} else {
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Serial.print(" 0 ");
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}
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}
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// if(values[0] > average + threshold) {
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// right.forward(63);
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// left.forward(0);
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// }
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// // if(values[1] > average + threshold) {
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// // right.forward(255);
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// // left.forward(63);
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// // }
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// // if(values[2] > average + threshold) {
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// // right.forward(255);
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// // left.forward(127);
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// // }
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// if(values[3] > average + threshold) {
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// left.forward(63);
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// right.forward(63);
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// }
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// // if(values[4] > average + threshold) {
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// // left.forward(63);
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// // right.forward(32);
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// // }
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// // if(values[5] > average + threshold) {
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// // left.forward();
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// // right.forward(63);
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// // }
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// if(values[6] > average + threshold) {
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// left.forward(63);
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// right.forward(0);
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// }
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Serial.printf("\r");
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//delay(1000);
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}
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