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Setup() Loop()
scanssensor();
Serial.begin(9600);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(trig, OUTPUT);
pinMode(ena,OUTPUT); Robotcontrol(); Tranhvatcan();
pinMode(enb,OUTPUT);
pinMode(echo,INPUT);
sg90.attach(5);
Có line: 1
Scanssensor() Không line: 0 Sensorread(pin)
Đọc 5 led
sai
Đúng Dung();
error=102 Rephai();
sai
Đúng
Dung() error=103
sai
PID(); end
Motor_control();
Int measuredistance (byte
angle)
unsigned long t;
int d;
digitalWrite(trig, 0);
delayMicroseconds(2);
digitalWrite(trig, 1);
delayMicroseconds(5);
digitalWrite(trig, 0);
t=pulseIn(echo,HIGH);
d=int(t*0.017);
return d;
Rephai();
Int obstacleavoid(byte Rephai();
delay(400);
kcgioihan) delay(300);
Dithang();
frontd= Retrai();
dokhoangcach(90) delay(400);
Dithang(); đúng
Dithang()
sai lui();
Frontd
delay(300);
>kcgioihan
Dung(); Scansensor(); Error==102
đúng
sai
Lui();
Return 0
Retrai();