Stap 3: Programing arduino
101. UARTReveived = 0;
102.} 103. } 104. } 105. 106. //CAR BEWEGINGEN 107. VOID carGoFwd() 108. {109. motorL.setSpeed(motor_speed); 110. motorR.setSpeed(motor_speed); 111. motorL.run(FORWARD); 112. motorR.run(FORWARD); 113. Serial.print("forward"); 114. delay(motor_delay); 115.} 116. VOID carGoBwd() 117. {118. motorL.setSpeed(motor_speed); 119. motorR.setSpeed(motor_speed); 120. motorL.run(BACKWARD); 121. motorR.run(BACKWARD); 122. Serial.print("Backward"); 123. delay(motor_delay); 124.} 125. VOID carTurnL() 126. {
127. motorL.setSpeed(motor_speed); 128. motorR.setSpeed(motor_speed); 129. motorL.run(BACKWARD); 130. motorR.run(FORWARD); 131. delay(motor_delay); 132. Serial.print("TurnL"); 133.} 134. VOID carTurnR() 135. {136. motorL.setSpeed(motor_speed); 137. motorR.setSpeed(motor_speed); 138. motorL.run(FORWARD); 139. motorR.run(BACKWARD); 140. delay(motor_delay); 141. Serial.print("TurnR"); 142.} 143. VOID carStop() 144. {145. b_motor_stop(); 146. Serial.print("carStop"); 147. delay(5); 148.} 149. AUTO SNELHEID 150. VOID CHNSpeed(int wheelDIR, int wheelSpeed) 151. {152. if(wheelDIR == 0X01) //LEFT wiel 153. {154. motorL.setSpeed(wheelSpeed); 155.} 156. anders if(wheelDIR == 0X02) //RIGHT wiel 157. {158. motorR.setSpeed(wheelSpeed); 159.} 160. } 161. SERVO BEURT 162. VOID servoSet (int servoNum, int pos) 163. {164. if(pos > 180) pos = 160; 165. anders als pos (pos < 0) = 0; 166. switch(servoNum) 167. {168. geval 0X07: 169. hand_t_servo.write(pos); 170. Serial.print("X"); 171. Serial.print(pos); 172. pauze; 173. geval 0X08: 174. hand_d_servo.write(POS); 175. Serial.print("Y"); 176. Serial.print(pos); 177. pauze; 178.} 179. } 180. void setup 181. {182. Serial.begin(9600); 183. b_motor_stop(); 184. b_servo_ini(); 185. / / delay(2000); wachttijd 186. Serial.println ("Hello! WiFi auto"); 187.} 188. 189. void b_motor_stop() {190. motorL.run(RELEASE); 191. motorR.run(RELEASE); 192.} 193. 194. void b_servo_ini() {195. hand_t_servo.attach(9); / / de servo op pin 9 hecht aan de servo-object 196. hand_d_servo.attach(10); / / de servo op pin 10 hecht aan de servo-object 197. hand_t_servo.write(hand_t_pos); 198. hand_d_servo.write(hand_d_pos); 199.}