emeryth
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gepetbot
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Zwiększona prędkośc serw, dodane drobne zakręty i auto poziomowanie.

master
Andrzej Surowiec 2013-05-12 01:05:15 +02:00
parent 883d46a445
commit 049d6dc5ad
1 changed files with 11 additions and 5 deletions
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16
gepetbot.ino
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@ -14,7 +14,7 @@
#define SERVO_R_CENTER 45
#define SERVO_C_CENTER 60
#define SERVO_STEP_DELAY 6
#define SERVO_STEP_DELAY 2
Servo servo_l;
Servo servo_r;
@ -25,11 +25,11 @@ Servo servo_c;
void center_servos(){
servo_c.write(SERVO_C_CENTER);
delay(200);
delay(150);
servo_l.write(SERVO_L_CENTER);
delay(200);
delay(150);
servo_r.write(SERVO_R_CENTER);
delay(200);
delay(150);
}
@ -119,7 +119,7 @@ void loop()
//move_servo(servo_c,SERVO_C_MIN);
//step_forward();
if (Serial.available()||Serial1.available()) {
while (Serial.available()||Serial1.available()) {
/* read the most recent byte */
if (Serial.available())
@ -138,6 +138,10 @@ void loop()
run(6,0);
else if(byteRead=='x')
center_servos();
else if(byteRead=='q')
run(3,6);
else if(byteRead=='e')
run(6,3);
Serial.write(byteRead);
Serial1.write(byteRead);
@ -145,7 +149,9 @@ void loop()
if (!Serial.available())
Serial.println("rdy");
if (!Serial1.available())
Serial1.println("rdy");
}
center_servos();
}