Bilgiler > Çizgi İzleyen Robot İnterrupt'lı
Çizgi İzleyen Robot İnterrupt'lı
void setup(){ pinMode(5, OUTPUT); //sag motor pinMode(2, INPUT); //sag sensor pinMode(3, INPUT); //sol sensor pinMode(8, OUTPUT); //sol motor pinMode(13, OUTPUT); //SOL SENSOR LED MAVİ pinMode(12, OUTPUT); //SAĞ SENSOR LED KIRMIZI attachInterrupt(0, blink, RISING); attachInterrupt(1, blink, RISING); Serial.begin(9600);}void blink() { //Serial.println("interrupt tetiklendi"); if (digitalRead(2) == 1) //SAĞ SENSÖR SİYAH ALGILADI { digitalWrite(5, LOW); // sağ motor digitalWrite(13, HIGH); } if (digitalRead(3) == 1) //SOL SENSÖR SİYAH ALGILADI { digitalWrite(8, LOW); //sol motor durdur digitalWrite(12, HIGH); } } void test() {if (digitalRead(2) == 0&&digitalRead(3) == 0){ digitalWrite(5, HIGH); digitalWrite(8, HIGH);} else { if (digitalRead(2) == 0){ digitalWrite(5, HIGH); digitalWrite(12, LOW); }if (digitalRead(3) == 0) { digitalWrite(8, HIGH); digitalWrite(13, LOW); } }delay(20); } void loop(){ test();delay(5); digitalWrite(8, LOW); digitalWrite(5, LOW); delay(3);// // if (digitalRead(2) == 1) //SAĞ SENSÖR SİYAH ALGILADI// {// digitalWrite(5, LOW); // sağ motor// digitalWrite(13, HIGH);// }// else// // if (digitalRead(3) == 1) //SOL SENSÖR SİYAH ALGILADI// {// digitalWrite(8, LOW); //sol motor durdur// digitalWrite(12, HIGH);// }// else// {// digitalWrite(12, LOW);// }// // delay(20);// digitalWrite(5, LOW);// digitalWrite(8, LOW);// delay(3);}
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