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); }
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