1int pulPin = 4;
2int dirPin = 3;
3int enblPin = 2;
4int ledPin = 13;
5int pushButton = 6;
6int speed =0;
7int pushButton1 = 5;
8void setup() {
9
10 pinMode(pulPin, OUTPUT);
11 pinMode(dirPin, OUTPUT);
12 pinMode(enblPin, OUTPUT);
13 pinMode(ledPin, OUTPUT);
14
15 digitalWrite(pulPin, LOW);
16 digitalWrite(ledPin, LOW);
17 digitalWrite(enblPin, LOW);
18 digitalWrite(dirPin, LOW);
19
20
21 pinMode(pushButton, INPUT);
22 pinMode(pushButton1, INPUT);
23 Serial.begin(9600);
24 Serial.println("init");
25
26 digitalWrite(enblPin, HIGH);
27 delay(100);
28 digitalWrite(enblPin, LOW);
29}
30
31void loop() {
32 int buttonState = digitalRead(pushButton);
33 int buttonState1 = digitalRead(pushButton1);
34 Serial.print(buttonState);
35 Serial.print(" ");
36 Serial.println(buttonState1);
37 int sensorValue = analogRead(A0);
38 int sensorValue1 = analogRead(A1);
39
40
41 speed = map(sensorValue1, 0, 1022, 100, 1000);
42 Serial.print(speed);
43 Serial.print(" ");
44
45 if ((sensorValue < 900) && (sensorValue > 100)) {
46 Serial.print("center");
47 }
48 if (sensorValue > 900) {
49 Serial.print("right");
50 cw();
51 }
52 if (sensorValue < 100) {
53 Serial.print("left");
54 cc();
55 }
56
57
58}
59
60
61void cw() {
62 while (1) {
63 int buttonState = digitalRead(pushButton);
64 int buttonState1 = digitalRead(pushButton1);
65 digitalWrite(dirPin, HIGH);
66 digitalWrite(pulPin, HIGH);
67 digitalWrite(pulPin, LOW);
68 delayMicroseconds(speed);
69 int sensorValue = analogRead(A0);
70 if ((sensorValue < 900) && (sensorValue > 100)) {
71 Serial.print("center");
72 break;
73 }
74 if (buttonState == LOW) {
75 break;
76 }
77 }
78}
79void cc() {
80 while (1) {
81 int buttonState = digitalRead(pushButton);
82 int buttonState1 = digitalRead(pushButton1);
83 digitalWrite(dirPin, LOW);
84 digitalWrite(pulPin, HIGH);
85 digitalWrite(pulPin, LOW);
86 delayMicroseconds(speed);
87 int sensorValue = analogRead(A0);
88 if ((sensorValue < 900) && (sensorValue > 100)) {
89 Serial.print("center");
90 break;
91 }
92 if (buttonState1 == LOW) {
93 break;
94 }
95 }
96}
97