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Question

#include #define leftIr A0 #define rightIr A1 #define leftMotorSpeed 3 #define leftMotorP 4 #define leftMotorN 5 #define rightMotorN 6 #define rightMotorP 7 #define rightMotorSpeed 9 #define ultrasonicTrigger 11 #define ultrasonicEcho 12 // Max distance read by ultrasonic sensor const int maxDistance = 400; NewPing ultrasonic(ultrasonicTrigger, ultrasonicEcho, maxDistance); const char GREEN_SIGN = 'd'; // Drive const char RED_SIGN = 's'; // Stop const int MIN_DISTANCE_FROM_OBJECT = 5; // Error of the distance read by the ultrasonic sensor const float DISTANCE_OFFSET = -0.31; // Motors speed (0 - 255) const float FORWARD_SPEED = 112; const float CURVE_SPEED = FORWARD_SPEED; // Variable responsible for ignoring small variations in reflectance const int SENSITIVITY_OFFSET = 30; // Reflectance thresholds of the external parts to the central band int leftThreshold; int rightThreshold; char vehicleAction; void setup() { Serial.begin(9600); pinMode(leftIr, INPUT); pinMode(rightIr, INPUT); leftThreshold = analogRead(leftIr); rightThreshold = analogRead(rightIr); pinMode(leftMotorSpeed, OUTPUT); pinMode(leftMotorP, OUTPUT); pinMode(leftMotorN, OUTPUT); pinMode(rightMotorSpeed, OUTPUT); pinMode(rightMotorN, OUTPUT); pinMode(rightMotorP, OUTPUT); pinMode(ultrasonicTrigger, OUTPUT); pinMode(ultrasonicEcho, INPUT); } void loop() { if (Serial.available() > 0) { char serial = Serial.read(); if (serial == GREEN_SIGN || serial == RED_SIGN) { vehicleAction = serial; } } if (vehicleAction == GREEN_SIGN) drive(); else if (vehicleAction == RED_SIGN) stopCar(); } void drive() { if (hasObstacle()) stopCar(); while (hasObstacle()) delay(100); // If a new vehicle action was received, must process it first if (Serial.available() > 0) return; int leftIrValue = analogRead(leftIr) - SENSITIVITY_OFFSET; int rightIrValue = analogRead(rightIr) - SENSITIVITY_OFFSET; if (leftIrValue <= leftThreshold && rightIrValue <= rightThreshold) moveForward(); else if (leftIrValue > leftThreshold && rightIrValue <= rightThreshold) moveLeft(); else if (leftIrValue <= leftThreshold && rightIrValue > rightThreshold) moveRight(); else if (leftIrValue > leftThreshold && rightIrValue > rightThreshold) stopCar(); // Runs an action during just 125ms to make sure it doesn't cross the line delay(125); stopCar(); delay(75); } boolean hasObstacle() { int distance = ultrasonic.ping_cm(); // Check if distance different of 0, because NewPing library returns 0 if // the distance is greater than the specified return distance > 0 && distance <= MIN_DISTANCE_FROM_OBJECT; } void moveForward() { // PWM analogWrite(leftMotorSpeed, FORWARD_SPEED); analogWrite(rightMotorSpeed, FORWARD_SPEED); // Direction digitalWrite(leftMotorP, HIGH); digitalWrite(leftMotorN, LOW); digitalWrite(rightMotorP, HIGH); digitalWrite(rightMotorN, LOW); } void moveLeft() { // PWM analogWrite(leftMotorSpeed, 0); analogWrite(rightMotorSpeed, CURVE_SPEED); // Direction digitalWrite(leftMotorP, LOW); digitalWrite(leftMotorN, LOW); digitalWrite(rightMotorP, HIGH); digitalWrite(rightMotorN, LOW); } void moveRight() { // PWM analogWrite(leftMotorSpeed, CURVE_SPEED); analogWrite(rightMotorSpeed, 0); // Direction digitalWrite(leftMotorP, HIGH); digitalWrite(leftMotorN, LOW); digitalWrite(rightMotorP, LOW); digitalWrite(rightMotorN, LOW); } void stopCar() { // PWM analogWrite(leftMotorSpeed, 0); analogWrite(rightMotorSpeed, 0); // Direction digitalWrite(leftMotorP, LOW); digitalWrite(leftMotorN, LOW); digitalWrite(rightMotorP, LOW); digitalWrite(rightMotorN, LOW); }아두이노 코딩중입니다. 근데 모터가 안도네요ㅠㅠ지금 뭐가 문젠지 몰라서 헤매고있어요.

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