new_file - master - mapb19ator/cpp

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mapb19ator
Update: new_file
24 июн 2026, 14:22
24 июн 2026, 14:22f2be54c
#include <Servo.h>
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);
}
void nazad(int speed){
   analogWrite(_left_speed, speed);
   analogWrite(_right_speed, speed);
   digitalWrite(_left_dir1, LOW);
   digitalWrite(_right_dir1, LOW);
   digitalWrite(_left_dir2, HIGH);
   digitalWrite(_right_dir2, HIGH);
  }
};

Motors motors(9,3,7,6,5,4); 
int line1 = 10;
int line2 = 11;
char r = ' ';
char b = ' ';
char inf = ' ';
int mode = 1;
Servo servo1;
Servo servo2;
Servo servo3;
void setup() {
motors.init();
pinMode(line1, INPUT);
pinMode(line2, INPUT);
servo1.attach(2);
servo2.attach (12);
servo3.attach (13);
servo1.write(90);
servo2.write(90);
servo3.write(90);
Serial.begin(9600);
}

void loop() {
if(Serial.available() > 0 ){
  inf = Serial.read();
}
if(inf == 'r') {
  mode = 1;
}
if(inf == 'b') {
  mode = 2;
}
if(mode == 1){
 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();
}
}else{
  Serial.println("Remote controll enabled");
  motors.stop();
  while(mode == 2) {
   if(Serial.available() > 0) { 
    inf = Serial.read();
   }
   if(inf == 'w'){ 
    motors.forward(250);
    Serial.println("forward");
   }
   if(inf == 'a'){ 
    motors.left(250);
    Serial.println("left");
   }
   if(inf == 'd'){ 
    motors.right(250);
    Serial.println("right");
   }
   if(inf == 's'){ 
    motors.nazad(250);
    Serial.println("nazad");
   }
   if(inf == 'q'){ 
    motors.stop();
    Serial.println("stop");
   }
   if(inf == 'e'){ 
    servo1.write(90);
   }
   if(inf == 'z'){ 
    servo2.write(90);
   }
   if(inf == 'x'){ 
    servo3.write(90);
   }
  if(inf == 'r'){
   Serial.println("break");
   break;
   mode = 1;
  }
  }
  }
}