リチウムイオン電池自走ロボット

include "Servo.h" //サーボモータのヘッダーファイルの読み込み
Servo myservo;
int VAL=0;
void setup(){
Serial.begin(9600);
myservo.attach(6,500,2400); //10ピンからサーボモーターの回転信号をPWM出力
pinMode(13 , INPUT);
pinMode(12, OUTPUT);
pinMode(11, OUTPUT);
pinMode(10, OUTPUT);
pinMode(9 , OUTPUT);
pinMode(6 , OUTPUT);
}
//sensa-nohannouwosirberu LEDde
void loop(){
myservo.write(45); //45度に回転
delay(300); //1000㎳待つ
myservo.write(135);
delay(10);
VAL=digitalRead(13);
if(VAL==0){
Serial.print(0);
MOVE(100);
delay(10);
}else{
Serial.print(1);
BACK(2000);
//RIGHT(1500);
//MOVE (1000);
LEFT(1500);
//MOVE(1000);
//LEFT(1500);
//MOVE (1000);
//RIGHT(1500);
//MOVE(1000);
delay(10);
}}
void BACK(int ms){
digitalWrite(9, HIGH);
digitalWrite(11 , HIGH);
delay(ms);
digitalWrite(9, LOW);
digitalWrite(11 , LOW);
delay(ms);
}
void MOVE(int ms){
digitalWrite(10, HIGH);
digitalWrite(12 , HIGH);
delay(ms);
digitalWrite(10, LOW);
digitalWrite(12 , LOW);
delay(ms);
}
void LEFT(int ms){
digitalWrite(10, HIGH);
digitalWrite(11 , HIGH);
delay(ms);
digitalWrite(10, LOW);
digitalWrite(11 , LOW);
delay(ms);
}
void RIGHT(int ms){
digitalWrite(12, HIGH);
digitalWrite(9 , HIGH);
delay(ms);
digitalWrite(12, LOW);
digitalWrite(9 , LOW);
delay(ms);
}