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> > > // Motor A, Left Side > const uint8_t pwmLeft = 9; // ENA - Enable and PWM > const uint8_t leftForward = 7; // IN1 - Forward Drive > const uint8_t leftReverse = 6; // IN2 - Reverse Drive > > // Motor B, Right Side > const uint8_t pwmRight = 3; // ENB - Enable and PWM > const uint8_t rightForward = 5; // IN3 - Forward Drive > const uint8_t rightReverse = 4; // IN4 - Reverse Drive > > //////////////// Start Functions ////////////////// > > // All Stop > void allStop() { > digitalWrite(leftForward, LOW); > digitalWrite(leftReverse, LOW); > digitalWrite(rightForward, LOW); > digitalWrite(rightReverse, LOW); > analogWrite(pwmLeft, 0); > analogWrite(pwmRight, 0); > } > > void allForward() { > digitalWrite(leftForward, HIGH); > digitalWrite(leftReverse, LOW); > digitalWrite(rightForward, HIGH); > digitalWrite(rightReverse, LOW); > analogWrite(pwmLeft, 255); > analogWrite(pwmRight, 255); > } > > void allReverse() { > digitalWrite(leftForward, LOW); > digitalWrite(leftReverse, HIGH); > digitalWrite(rightForward, LOW); > digitalWrite(rightReverse, HIGH); > analogWrite(pwmLeft, 255); > analogWrite(pwmRight, 255); > } > > void skidsteerLeft() { > digitalWrite(leftForward, LOW); > digitalWrite(leftReverse, HIGH); > digitalWrite(rightForward, HIGH); > digitalWrite(rightReverse, LOW); > analogWrite(pwmLeft, 255); > analogWrite(pwmRight, 255); > } > > void skidsteerRight() { > digitalWrite(leftForward, HIGH); > digitalWrite(leftReverse, LOW); > digitalWrite(rightForward, LOW); > digitalWrite(rightReverse, HIGH); > analogWrite(pwmLeft, 255); > analogWrite(pwmRight, 255); > } > > //////////////// End Functions ////////////////// > > void setup() { > // Set pins to motor driver (L298) to outputs > pinMode(pwmLeft, OUTPUT); > pinMode(leftForward, OUTPUT); > pinMode(leftReverse, OUTPUT); > pinMode(pwmRight, OUTPUT); > pinMode(rightForward, OUTPUT); > pinMode(rightReverse, OUTPUT); > } > > void loop() { > allStop(); // Stop all dc motors > delay(1000); > allForward(); // Drive dc motors forward > delay(2000); > allReverse(); // Drive dc motors in reverse > delay(2000); > skidsteerLeft(); // Skidsteer spin left direction > delay(2000); > skidsteerRight(); // Skidsteer spin right direction > delay(2000); > } > >
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