Код: Выбрать все
const uint8_t PinX = A1;
float X;
const uint8_t PinY = A2;
float Y;
#define A1_A 8 // выходы на драйвер
#define A1_B 9
#define AY_A 10 // выходы на драйвер
#define AY_B 11
void setup(){
pinMode(PinX, INPUT);
pinMode(PinY, INPUT);
pinMode (A1_A, OUTPUT);
pinMode (A1_B, OUTPUT);
pinMode (AY_A, OUTPUT);
pinMode (AY_B, OUTPUT);
Serial.begin(115200);
digitalWrite (A1_A, LOW);
digitalWrite (A1_B, LOW);
digitalWrite (AY_A, LOW);
digitalWrite (AY_B, LOW);
}
void loop(){
digitalWrite (A1_A, LOW);
digitalWrite (A1_B, LOW);
digitalWrite (AY_A, LOW);
digitalWrite (AY_B, LOW);
X = (120.0/20.0) * (float)(analogRead(PinX)) / 1024.0; // LiPo battery voltage in volts
Serial.println("OX = "); Serial.print(X); Serial.println(" X");
Y = (120.0/20.0) * (float)(analogRead(PinY)) / 1024.0; // LiPo battery voltage in volts
Serial.println("OY = "); Serial.print(Y); Serial.println(" Y");
/////////////////////////////////XXXXXXXXXXXXXXXXXX///////////////////////////
if(X>3){
digitalWrite (A1_A, HIGH);
digitalWrite (A1_B, LOW);
delay(10);
// выключаем мотор
digitalWrite (A1_A, LOW);
digitalWrite (A1_B, LOW);
}
if(X<1){
digitalWrite (A1_A, LOW);
digitalWrite (A1_B, HIGH);
delay(10);
// выключаем мотор
digitalWrite (A1_A, LOW);
digitalWrite (A1_B, LOW);
}
//////////////////////////////YYYYYYYYYYYYYYYYYYYYY///////////////////////////////////////////
if(Y>3){
digitalWrite (AY_A, HIGH);
digitalWrite (AY_B, LOW);
delay(10);
// выключаем мотор
digitalWrite (AY_A, LOW);
digitalWrite (AY_B, LOW);
}
if(Y<1){
digitalWrite (AY_A, LOW);
digitalWrite (AY_B, HIGH);
delay(10);
// выключаем мотор
digitalWrite (AY_A, LOW);
digitalWrite (AY_B, LOW);
}
}