-
Notifications
You must be signed in to change notification settings - Fork 15
/
Copy pathmoves.h
128 lines (90 loc) · 1.9 KB
/
moves.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
/*
Moves header file
2022/9/19 7:25pm
*/
#ifndef moves_h
#define moves_h
#include "Arduino.h"
#include "definitions.h"
void backward();
void right();
void left();
void stop();
void forward();
void hanging(){
//randomSeed(analogRead(A15));
int rand = random(8);// choose a random action move
switch(rand){
case 0:
right();
delay(300*skip);
stop();
break;
case 1:
left();
delay(500*skip);
stop();
break;
case 2:
forward();
delay(300*skip);
stop();
break;
case 3:
backward();
delay(300*skip);
stop();
break;
case 4:
right();
delay(2000*skip);
stop();
break;
case 5:
left();
delay(2000*skip);
stop();
break;
case 6:
forward();
delay(1200);
stop();
break;
case 7:
backward();
delay(1000*skip);
break;
default : break;
}
}
void forward(){
digitalWrite(m1a, HIGH);
digitalWrite(m1b, LOW);
digitalWrite(m2a, LOW);
digitalWrite(m2b, HIGH);
}
void backward(){
digitalWrite(m1a, LOW);
digitalWrite(m1b, HIGH);
digitalWrite(m2a, HIGH);
digitalWrite(m2b, LOW);
}
void right(){
digitalWrite(m1a, LOW);
digitalWrite(m1b, HIGH);
digitalWrite(m2a, LOW);
digitalWrite(m2b, HIGH);
}
void left(){
digitalWrite(m1a, HIGH);
digitalWrite(m1b, LOW);
digitalWrite(m2a, HIGH);
digitalWrite(m2b, LOW);
}
void stop(){
digitalWrite(m1a, LOW);
digitalWrite(m1b, LOW);
digitalWrite(m2a, LOW);
digitalWrite(m2b, LOW);
}
#endif