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codigo carro brazo

This document contains an Arduino sketch for controlling four DC motors and two servos using the AFMotor and Servo libraries. It includes functions for moving the motors forward, backward, left, right, and stopping, as well as handling serial commands to control the servos. The code initializes the motors and servos, reads commands from the serial input, and executes corresponding motor movements or servo adjustments.

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Ricardo Llanos
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10 views5 pages

codigo carro brazo

This document contains an Arduino sketch for controlling four DC motors and two servos using the AFMotor and Servo libraries. It includes functions for moving the motors forward, backward, left, right, and stopping, as well as handling serial commands to control the servos. The code initializes the motors and servos, reads commands from the serial input, and executes corresponding motor movements or servo adjustments.

Uploaded by

Ricardo Llanos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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#include <AFMotor.

h>

#include <Servo.h>

//initial motors pin

AF_DCMotor motor1(1, MOTOR12_1KHZ);

AF_DCMotor motor2(2, MOTOR12_1KHZ);

AF_DCMotor motor3(3, MOTOR34_1KHZ);

AF_DCMotor motor4(4, MOTOR34_1KHZ);

String readString;

char command;

Servo myservo1, myservo2;

void setup()

Serial.begin(9600); //Iniciamos buetooh

myservo1.attach(10); // pin de servo

myservo2.attach(9); // pin de servo

myservo1.write(90); // angulo de servo

delay(1000);

myservo1.write(120);

delay(1000);

void loop(){

if(Serial.available() > 0){

command = Serial.read();

Stop(); //initialize with motors stoped

//Change pin mode only if new command is different from previous.

//Serial.println(command);

switch(command){
case 'A': //F

forward();

break;

case 'R': //B

back();

break;

case 'I': //L

left();

break;

case 'D': //r

right();

break;

case 'X': //F

m1();

break;

case 'Y': //F

m2();

break;

void forward()

motor1.setSpeed(255); //Define maximum velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(255); //Define maximum velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(255);//Define maximum velocity


motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(255);//Define maximum velocity

motor4.run(FORWARD); //rotate the motor clockwise

void back()

motor1.setSpeed(255); //Define maximum velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.setSpeed(255); //Define maximum velocity

motor2.run(BACKWARD); //rotate the motor anti-clockwise

motor3.setSpeed(255); //Define maximum velocity

motor3.run(BACKWARD); //rotate the motor anti-clockwise

motor4.setSpeed(255); //Define maximum velocity

motor4.run(BACKWARD); //rotate the motor anti-clockwise

void left()

motor1.setSpeed(255); //Define maximum velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.setSpeed(255); //Define maximum velocity

motor2.run(BACKWARD); //rotate the motor anti-clockwise

motor3.setSpeed(255); //Define maximum velocity

motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(255); //Define maximum velocity

motor4.run(FORWARD); //rotate the motor clockwise

void right()

{
motor1.setSpeed(255); //Define maximum velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(255); //Define maximum velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(255); //Define maximum velocity

motor3.run(BACKWARD); //rotate the motor anti-clockwise

motor4.setSpeed(255); //Define maximum velocity

motor4.run(BACKWARD); //rotate the motor anti-clockwise

void Stop()

motor1.setSpeed(0); //Define minimum velocity

motor1.run(RELEASE); //stop the motor when release the button

motor2.setSpeed(0); //Define minimum velocity

motor2.run(RELEASE); //rotate the motor clockwise

motor3.setSpeed(0); //Define minimum velocity

motor3.run(RELEASE); //stop the motor when release the button

motor4.setSpeed(0); //Define minimum velocity

motor4.run(RELEASE); //stop the motor when release the button

void m1()

delay(10);

while (Serial.available()) {

char b = Serial.read();

readString += b;

if (readString.length() >0) {
Serial.println(readString.toInt());

myservo1.write(readString.toInt());

readString=""; // Clear string

void m2(){

delay(10);

while (Serial.available()) {

char b = Serial.read();

readString += b;

if (readString.length() >0) {

Serial.println(readString.toInt());

myservo2.write(readString.toInt());

readString="";

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