글
#include <MetisAgv.h>
#include <MetisRemoteIO.h>
#define PIN_SW2 25
#define PIN_SW6 29
#define PIN_R_VEL 0
#define PIN_L_VEL 1
#define PIN_R_CW 0
#define PIN_R_CCW 1
#define PIN_L_CW 2
#define PIN_L_CCW 3
int SPEED = 50;
// 스피드를 0~255 범위로 설정할 수 있다
void setup() {
// put your setup code here, to run once:
Agv. Initialize (19200);
Agv.analogWrite (PIN_R_VEL, SPEED);
Agv.analogWrite (PIN_L_VEL, SPEED);
}
void loop() {
// 스위치 2번
int BCK = Agv.digitalRead (PIN_SW6);
// 스위치 6번
if (FOR == HIGH)
// FOR는 전진
{
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)
// BCK는 후진을 의미
{
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);
}
// put your main code here, to run repeatedly:
}
