manline.cpp - master - mapb19ator/cpp

manline.cpp
86 строк2 KB
mapb19ator
update: manline.cpp
03 май 2026, 15:16
03 май 2026, 15:16037fddb
class Motors {
  private:
  int _left_speed;
  int _right_speed;
  int _left_dir1;
  int _left_dir2;
  int _right_dir1;
  int _right_dir2;
  public:
  Motors(int l_s, int r_s, int l_d1, int l_d2, int r_d1, int r_d2) {
    _left_speed = l_s;
    _right_speed = r_s;
    _left_dir1 = l_d1;
    _left_dir2 = l_d2;
    _right_dir1 = r_d1;
    _right_dir2 = r_d2;
  }

  void init() {
     pinMode(_left_speed, OUTPUT);
     pinMode(_right_speed, OUTPUT);
     pinMode(_left_dir1, OUTPUT);
     pinMode(_left_dir2, OUTPUT);
     pinMode(_right_dir1, OUTPUT);
     pinMode(_right_dir2, OUTPUT);
  }
  void forward(int speed){
   analogWrite(_left_speed, speed);
   analogWrite(_right_speed, speed);
   digitalWrite(_left_dir1, HIGH);
   digitalWrite(_right_dir1, HIGH);
   digitalWrite(_left_dir2, LOW);
   digitalWrite(_right_dir2, LOW);
  }
void stop(){
   analogWrite(_left_speed, 0);
   analogWrite(_right_speed, 0);
   digitalWrite(_left_dir1, LOW);
   digitalWrite(_right_dir1, LOW);
   digitalWrite(_left_dir2, LOW);
   digitalWrite(_right_dir2, LOW);
  }
void right(int speed){
   analogWrite(_left_speed, speed);
   analogWrite(_right_speed, speed);
   digitalWrite(_left_dir1, HIGH);
   digitalWrite(_left_dir2, LOW);
   digitalWrite(_right_dir1, LOW);
   digitalWrite(_right_dir2, HIGH);
  }
void left(int speed){
   analogWrite(_left_speed, speed);
   analogWrite(_right_speed, speed);
   digitalWrite(_left_dir1, LOW);
   digitalWrite(_left_dir2, HIGH);
   digitalWrite(_right_dir1, HIGH);
   digitalWrite(_right_dir2, LOW);
}
};

Motors motors(9,3,7,6,5,4); 
int line1 = 10;
int line2 = 11;
void setup() {
motors.init();
pinMode(line1, INPUT);
pinMode(line2, INPUT);
}




void loop() {
if(digitalRead(line1) == HIGH && digitalRead(line2) == HIGH) {
  motors.forward(200);
}
if(digitalRead(line1) == HIGH && digitalRead(line2) == LOW) {
  motors.right(150);
}
if(digitalRead(line1) == LOW && digitalRead(line2) == HIGH) {
  motors.left(150);
}
if(digitalRead(line1) == LOW && digitalRead(line2) == LOW) {
  motors.stop();
}
}