수학의 공식처럼 특정 구문을 공식화(=함수화)-P.107-8

# 비슷한 구문이 반복 사용 될 때???- 수학의 공식처럼 특정 구문을 공식화(=함수화) 할 수 있다..

if (FOR == HIGH)

{

 Agv.digitalWrite(PIN_R_CW, HIGH);

 Agv.digitalWrite(PIN_R_CCW, LOW);

 Agv.digitalWrite(PIN_L_CW, HIGH);

 Agv.digitalWrite(PIN_L_CCW, LOW);

}

else if (BCK == HIGH)

{

 Agv.digitalWrite(PIN_R_CW, LOW);

 Agv.digitalWrite(PIN_R_CCW, HIGH);

 Agv.digitalWrite(PIN_L_CW, LOW);

 Agv.digitalWrite(PIN_L_CCW, HIGH);

}

else

{

 Agv.digitalWrite(PIN_R_CW, LOW);

 Agv.digitalWrite(PIN_R_CCW, LOW);

 Agv.digitalWrite(PIN_L_CW, LOW);

 Agv.digitalWrite(PIN_L_CCW, LOW);

}

void MotorControl (int A, int B, int C, int D)

Agv.digitalWrite(PIN_R CW, A);

Agv.digitalWrite(PIN_R_CCW, B);

Agv.digitalWrite(PIN_L_CW, C);

Agv.digitalWrite(PIN_L_CCW, D);

===> 함수를 적용.

if (FOR HIGH)

{

    MotorControl (HIGH, LOW, HIGE, LOW);

}

else if (BCK == HIGH)

{

    MotorControl (LOW, HIGH, LOW, HIGH);

}

else

{

    MotorControl (LOW, LOW, LOW, LOW);

}

1 #include <MetisAgv.h>

2 Finclude <MetisRemote10.h>

4 Idefine PIN SW2

5 #define PIN SW6

29

6 #define PIN R VEL

0

8 #define PIN R. CW

5 #define PIN_R_CCW

10

#define PIN L_CW

12

13 int SPEED 50:

함수의 (원형) 선언

14 vold MotorControl (int A, int B, int C, int D):

15

16@void setup() {

17

Aqv. Initialize (19200):

18

19

201

Agv.analogWrite (PIN R VEL, SPEED):

Agv.analogWrite (PIN_L_VEL, SPEED):

결과값

void MotorControl(int A, int B, int C, int D);

함수명

y

= f

전달인자(파라미터)

( X );

22日 void loop() [

23

25

24

int BCK Agv.digitalRead( digitalRead(PIN_SW6);

int FOR = Agv.digitalRead(PIN_SW2);

3

25

if (FOR HIGH)

26

27日

(

MotorControl (HIGH, LOW, HIGH, LOW);

1

0

28

7 #define PIN L VEL

else if (BCK == HIGH)

1

30

함수의 (공식) 사용

2

11

#define PIN_L_CCW

3

31日

MotorControl (LOW, HIGH, LOW, HIGH);

33

else

34

351

36

MotorControl (LOW, LOW, LOW, LOW);

37 }

38

२०

함수의 (내용) 정의

41日(

40 void MotorControl (int A, int B, int C, int b)

42

43

Agv.digitalWrite(PIN_R_CW, A):

44

45

Agv.digitalWrite(PIN_R_CCW, B);

Agv.digitalWrite(PIN_L_CW, C):

461

Agv.digitalWrite(PIN_L_CCW, D);

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