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標題: 請問FSR壓力感測器結合自走車 [打印本頁]

作者: stu4610 時間: 2014-12-31 10:33
標題: 請問FSR壓力感測器結合自走車
/*

　控制　兩個馬達　　　控制馬達轉速　使用PWM　　功能

*/

// constants won't change. They're used here to
// set pin numbers:
const int sensorPinL = 2;    //
const int sensorPinR = 3;    //
int pwmR = 0;
int pwmL = 0;

const int motorLin1 =  10;    // 　　　左馬達　電機控制
const int motorLin2=  11;    // 　　左馬達　　電機控制
const int motorRin1 =  12;    // 　　　右馬達控制
const int motorRin2=  13;    // 　　左馬達控制

// variables will change:
int sensorStateL = 0;       // 　左偵測器
int sensorStateR = 0;       // 　　右偵測器

void setup() {

  pinMode(motorRin1, OUTPUT);
  pinMode(motorRin2, OUTPUT);

  pinMode(sensorPinL, INPUT);
  pinMode(sensorPinR, INPUT);

  pinMode(5,OUTPUT);  //　控制左電機馬達轉速  PWM

  pinMode(6,OUTPUT);

}

void loop(){
  // read the state of the pushbutton value:

  analogWrite(5,200);  //PWM 　左馬達

analogWrite(6,200);  //PWM 　　右馬達

  sensorStateL = digitalRead(sensorPinL);
  sensorStateR = digitalRead(sensorPinR);
  // check if the pushbutton is pressed.
  // if it is, the buttonState is HIGH:

if (sensorStateL == HIGH) {
// turn LED on:
digitalWrite(motorLin1, HIGH);
digitalWrite(motorLin2, LOW);
  }
  else {
// turn LED off:
digitalWrite(motorLin2, HIGH);
digitalWrite(motorLin1, LOW);
  }

if (sensorStateR == HIGH) {
// turn LED on:
digitalWrite(motorRin1, HIGH);
digitalWrite(motorRin2, LOW);
  }
  else {
// turn LED off:
digitalWrite(motorRin2, HIGH);
digitalWrite(motorRin1, LOW);
  }

}
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// 首先定義腳位
#define led_pin 11
#define fsr_pin A0

void setup()
{
  Serial.begin(115200);
  pinMode(led_pin, OUTPUT);
}

void loop()
{
  int fsr_value = analogRead(fsr_pin); // 讀取FSR
  int led_value = map(fsr_value, 0, 1023, 0, 255); // 從0~1023映射到0~255

analogWrite(led_pin, led_value); // 改變LED亮度
  Serial.println(fsr_value);
  Serial.println(led_value);
  Serial.println("-------------");
  delay(100);
}
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請問這兩個程式該怎麼結合會比較好呢????

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