79 lines
968 B
C++
79 lines
968 B
C++
#include "MeMCore.h"
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#include <Wire.h>
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MeGyro gyro;
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MeDCMotor leftMotor(9);
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MeDCMotor rightMotor(10);
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uint8_t motorSpeed = 100;
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void setup() {
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Serial.begin(115200);
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gyro.begin();
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leftMotor.run(0);
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rightMotor.run(0);
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}
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void loop() {
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//(0,0)
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gyro.update();
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goForward();
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delay(6000);
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stop();
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//(10,0)
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float error;
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float d_target = 90;
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float p;
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float v_e;
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float v_r;
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while (error > 10){
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gyro.update();
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error = d_target - gyro.getAngleZ();
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v_e = p*error;
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v_r = -v_e;
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goLeft(v_r);
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}
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stop();
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//(10,10)
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//(0,10)
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}
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void goForward(){
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leftMotor.run(-motorSpeed);
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rightMotor.run(motorSpeed);
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delay(1000);
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}
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void goBackward(){
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leftMotor.run(motorSpeed);
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rightMotor.run(-motorSpeed);
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delay(100);
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}
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void goLeft(float rotateSpeed){
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leftMotor.run(rotateSpeed);
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rightMotor.run(rotateSpeed);
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delay(100);
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}
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void stop(){
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leftMotor.stop();
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rightMotor.stop();
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delay(100);
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} |