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Arduino Sketch

The document defines variables for controlling motors, sensors, and LEDs of a robot. It sets pin modes in setup and uses sensor values in loop to call movement functions like forward, left, right, and stop. The movement functions control motor directions and speeds to drive or turn the robot.

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jagtar.muggo
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83 views2 pages

Arduino Sketch

The document defines variables for controlling motors, sensors, and LEDs of a robot. It sets pin modes in setup and uses sensor values in loop to call movement functions like forward, left, right, and stop. The movement functions control motor directions and speeds to drive or turn the robot.

Uploaded by

jagtar.muggo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd

int mr1=8; //motor right 1

int mr2=9; //motor right 2


int ml1=10; //motor left 1
int ml2=11; //motor left 2
int sr=6; //sensor right
int sl=7; //sensor left
int svr=0;
int svl=0;
int led=13;
int enr=3;
int enl=5;

int vspeed=100;
int tspeed=255;
int tdelay=20;

void setup()
{
pinMode(mr1,OUTPUT);
pinMode(mr2,OUTPUT);
pinMode(ml1,OUTPUT);
pinMode(ml2,OUTPUT);
pinMode(led,OUTPUT);
pinMode(sr,INPUT);
pinMode(sl,INPUT);

delay(5000);
}

void loop()
{
svr=digitalRead(sr);
svl=digitalRead(sl);

if(svl==LOW && svr==LOW)


{
forward(); //maju
}

if(svl==HIGH && svr==LOW)


{
left(); //belok kiri
}

if(svl==LOW && svr==HIGH)


{
right(); //belok kanan
}

if(svl==HIGH && svr==HIGH)


{
stop(); //berhenti
}
}

void forward()
{
digitalWrite(mr1,HIGH);
digitalWrite(mr2,LOW);
digitalWrite(ml1,HIGH);
digitalWrite(ml2,LOW);
analogWrite (enr,vspeed);
analogWrite (enl,vspeed);
}

void backward()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,LOW);
digitalWrite(ml2,HIGH);
analogWrite (enr,vspeed);
analogWrite (enl,vspeed);
}

void right()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,HIGH);
digitalWrite(ml2,LOW);
analogWrite (enr,tspeed);
analogWrite (enl,tspeed);
delay(tdelay);
}

void left()
{
digitalWrite(mr1,HIGH);
digitalWrite(mr2,LOW);
digitalWrite(ml1,LOW);
digitalWrite(ml2,HIGH);
analogWrite (enr,tspeed);
analogWrite (enl,tspeed);
delay(tdelay);
}

void stop()
{
analogWrite (enr,0);
analogWrite (enl,0);
}

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