โดยติดไว้ที่ส่วนด้านหน้าของรถสามารถยกขวดน้ำสิ่งของขนาดเล็กทั่วไปได้
โดยต่อบอร์ดIC293 เพิ่มอีกหนึ่งบอร์ด
โดยต่อกับarduinoดังนี้
enable1 : 36 enable2 : 40
motor3 : 38 39
motor4 : 42 43
และแก้โค๊ดโดยเพิ่มตัวแปร และฟังก์ชันดังนี้
//BluetoothCar Project
//author krit
//Date 11/4/2012
int pwm1=9; int pwm2=8;
int m1D1=22; int m1D2=23;
int m2D1=32; int m2D2=33;
int enable1=36; int enable2=40;
int m3D1=38; int m3D2=39;
int m4D1=42; int m4D2=43;
int in;
int total=0;
char state=0;
void countSec();
void go(int speedM);
void back(int speedM);
void tLeft(int speedM);
void tRight(int speedM);
void stopM();
void clip();
void un_clip();
void up();
void down();
void setup()
{
pinMode(m1D1,OUTPUT);
pinMode(m1D2,OUTPUT);
pinMode(m2D1,OUTPUT);
pinMode(m2D2,OUTPUT);
pinMode(m3D1,OUTPUT);
pinMode(m3D2,OUTPUT);
pinMode(m4D1,OUTPUT);
pinMode(m4D2,OUTPUT);
pinMode(enable1,OUTPUT);
pinMode(enable2,OUTPUT);
Serial.begin(9600);
Serial.print("Start\n");
}
void loop()
{
total=0;
state=0;
if(Serial.available()>0){
state=Serial.read();
while(Serial.available()==0 && state!='S'&& state!='C'&& state!='N'&& state!='U'&& state!='D');
if(Serial.available()>0 && state!='S'&& state!='C'&& state!='N'&& state!='U'&& state!='D'){
total=(Serial.read());
//total=(total-66)*10;
}
}
if(state!=0){
switch(state){
case 'C': clip(); break;
case 'N': un_clip(); break;
case 'U': up(); break;
case 'D': down(); break;
case 'G': go(total); break;
case 'B': back(total); break;
case 'L': tLeft(total); break;
case 'R': tRight(total);break;
case 'S': stopM(); break;
default: stopM();
}
}
}
void go(int speedM){
Serial.print("Go!\t");
Serial.print(speedM);
Serial.print("\n");
analogWrite(pwm1, speedM);
digitalWrite(m1D1,HIGH);
digitalWrite(m1D2,LOW);
analogWrite(pwm2, speedM);
digitalWrite(m2D1,HIGH);
digitalWrite(m2D2,LOW);
}
void back(int speedM){
Serial.print("Back!\t");
Serial.print(speedM);
Serial.print("\n");
analogWrite(pwm1, speedM);
digitalWrite(m1D2,HIGH);
digitalWrite(m1D1,LOW);
analogWrite(pwm2, speedM);
digitalWrite(m2D2,HIGH);
digitalWrite(m2D1,LOW);
}
void tLeft(int speedM){
Serial.print("turnLeft!\t");
Serial.print(speedM);
Serial.print("\n");
analogWrite(pwm1, speedM);
digitalWrite(m1D2,HIGH);
digitalWrite(m1D1,LOW);
analogWrite(pwm2, speedM);
digitalWrite(m2D2,LOW);
digitalWrite(m2D1,HIGH);
}
void tRight(int speedM){
Serial.print("turnRight!\t");
Serial.print(speedM);
Serial.print("\n");
analogWrite(pwm1, speedM);
digitalWrite(m1D2,LOW);
digitalWrite(m1D1,HIGH);
analogWrite(pwm2, speedM);
digitalWrite(m2D2,HIGH);
digitalWrite(m2D1,LOW);
}
void stopM(){
Serial.print("Stop!\n");
digitalWrite(pwm2, HIGH);
digitalWrite(pwm1, HIGH);
digitalWrite(m1D2,HIGH);
digitalWrite(m1D1,HIGH);
digitalWrite(m2D2,HIGH);
digitalWrite(m2D1,HIGH);
digitalWrite(enable1,HIGH);
digitalWrite(m3D2,LOW);
digitalWrite(m3D1,LOW);
digitalWrite(enable2,HIGH);
digitalWrite(m4D2,LOW);
digitalWrite(m4D1,LOW);
}
void clip(){
digitalWrite(enable2,HIGH);
digitalWrite(m4D2,LOW);
digitalWrite(m4D1,HIGH);
}
void un_clip(){
digitalWrite(enable2,HIGH);
digitalWrite(m4D2,HIGH);
digitalWrite(m4D1,LOW);
}
void up(){
digitalWrite(enable1,HIGH);
digitalWrite(m3D2,LOW);
digitalWrite(m3D1,HIGH);
}
void down(){
digitalWrite(enable1,HIGH);
digitalWrite(m3D2,HIGH);
digitalWrite(m3D1,LOW);
}
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