ส่งงานครั้งที่ 7

code โปรเจครถบังคับ 2WD Arduino

#include <SoftwareSerial.h> //โหลด library file ที่ชื่อ oftwareSerial.h

SoftwareSerial BTSerial(9, 10); //กำหนด 9,10 เป็นSoftwareSerial BTSerial

int dir1PinA = 2;

int dir2PinA = 3;

int speedPinA = 6;

int dir1PinB = 4;

int dir2PinB = 5;

int speedPinB = 7;

void setup()

{  

  Serial.begin(9600);

  pinMode(dir1PinA,OUTPUT);

  pinMode(dir2PinA,OUTPUT);

  pinMode(speedPinA,OUTPUT);

  pinMode(dir1PinB,OUTPUT);

  pinMode(dir2PinB,OUTPUT);

  pinMode(speedPinB,OUTPUT);

  pinMode(8,OUTPUT);

  digitalWrite(8, HIGH);

  Serial.begin(9600);

  BTSerial.begin(9600); //กำหนดอัตราการรับส่งข้อมูลของBTSerial เท่ากับ 9600บิตต่อวินาที

}

void loop()

{ 

  if (BTSerial.available()) 

    Serial.write(BTSerial.read()); //ส่งค่าตัวแปรBTSerial.readออกทางพอร์ทอนุกรม

  if (Serial.available())

    BTSerial.write(Serial.read());

  if (BTSerial.available() > 0) {

    int inByte = BTSerial.read();

    int speed;

    switch (inByte) {  //กำหนดตัวเเปรสวิตเเทนฟังชั่นการทำงาน

    case 'F': //เปิดฟังชั่นการทำงาน สวิต F

      analogWrite(speedPinA, 500);

      analogWrite(speedPinB, 500);

      digitalWrite(dir1PinA, LOW);

      digitalWrite(dir1PinB, HIGH);

      digitalWrite(dir2PinA, HIGH);

      digitalWrite(dir2PinB, LOW);

      Serial.println("Motor 1 Forward");

      Serial.println("Motor 2 Forward");

      Serial.println("   ");

      break;  //สั่งหยุด

    case 'S':

      analogWrite(speedPinA, 0);

      digitalWrite(dir1PinA, LOW);

      digitalWrite(dir2PinA, HIGH);

      Serial.println("Motor 1 Stop");

      analogWrite(speedPinB, 0);

      digitalWrite(dir1PinB, LOW);

      digitalWrite(dir2PinB, HIGH);

      Serial.println("Motor 2 Stop");

      Serial.println("   ");

      break;

    case 'B':

      analogWrite(speedPinA, 500);

      digitalWrite(dir1PinA, HIGH);

      digitalWrite(dir2PinA, LOW);

      Serial.println("Motor 1 Back");

      analogWrite(speedPinB, 500);

      digitalWrite(dir1PinB, LOW);

      digitalWrite(dir2PinB, HIGH);

      Serial.println("Motor 2 Back");

      Serial.println("   ");

      break;

    case 'L':

      analogWrite(speedPinA, 0);

      digitalWrite(dir1PinA, LOW);

      digitalWrite(dir2PinA, HIGH);

      Serial.println("Motor 1 Left");

      analogWrite(speedPinB, 500);

      digitalWrite(dir1PinB, HIGH);

      digitalWrite(dir2PinB, LOW);

      Serial.println("Motor 2 Left");

      Serial.println("   ");

      break;

    case 'R':

      analogWrite(speedPinA, 500);

      digitalWrite(dir1PinA, LOW);

      digitalWrite(dir2PinA, HIGH);

      Serial.println("Motor 1 Right");

      analogWrite(speedPinB, 0);

      digitalWrite(dir1PinB, LOW);

      digitalWrite(dir2PinB, HIGH);

      Serial.println("Motor 2 Right");

      Serial.println("   ");

      break;

    case 'I':

      analogWrite(speedPinA, 150);

      digitalWrite(dir1PinA, LOW);

      digitalWrite(dir2PinA, HIGH);

      Serial.println("Motor 1 Forward L");

      analogWrite(speedPinB, 500);

      digitalWrite(dir1PinB, HIGH);

      digitalWrite(dir2PinB, LOW);

      Serial.println("Motor 2 Forward L");

      Serial.println("   ");

      break;

    case 'G':

      analogWrite(speedPinA, 500);

      digitalWrite(dir1PinA, LOW);

      digitalWrite(dir2PinA, HIGH);

      Serial.println("Motor 1 Forward R");

      analogWrite(speedPinB, 150);

      digitalWrite(dir1PinB, HIGH);

      digitalWrite(dir2PinB, LOW);

      Serial.println("Motor 2 Forward R");

      Serial.println("   ");

      break;

    case 'J':

      analogWrite(speedPinA, 200);

      digitalWrite(dir1PinA, HIGH);

      digitalWrite(dir2PinA, LOW);

      Serial.println("Motor 1 Back L");

      analogWrite(speedPinB, 500);

      digitalWrite(dir1PinB, LOW);

      digitalWrite(dir2PinB, HIGH);

      Serial.println("Motor 2 Back L");

      Serial.println("   ");

      break;

    case 'H':

      analogWrite(speedPinA, 500);

      digitalWrite(dir1PinA, HIGH);

      digitalWrite(dir2PinA, LOW);

      Serial.println("Motor 1 Back R");

      analogWrite(speedPinB, 200);

      digitalWrite(dir1PinB, LOW);

      digitalWrite(dir2PinB, HIGH);

      Serial.println("Motor 2 Back R");

      Serial.println("   ");

      break;

    default: //กลับไปเชคใหม่ 

      for (int thisPin = 2; thisPin < 11; thisPin++)

      {

        digitalWrite(thisPin, LOW);

      }

    }

  }

}