Keyestudio 4WD Bluetooth Multi-functional Car - Page 134

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132
unsigned char SM; //state of middle sensor of line tracking module
unsigned char SR; //state of right sensor of line tracking module
int inputPin=A0; // ultrasonic module ECHO to A0
int outputPin=A1; // ultrasonic module TRIG to A1
unsigned char Bluetooth_val; // ultrasonic module TRIG to A1
LiquidCrystal_I2C lcd(0x27,16,2); //defining liquid crystal
#define Lpwm_pin 5 //pin of controlling speed---- ENA of motor driver board
#define Rpwm_pin 10 //pin of controlling speed---- ENB of motor driver board
int pinLB=2; //pin of controlling turning---- IN1 of motor driver board
int pinLF=4; //pin of controlling turning---- IN2 of motor driver board
int pinRB=7; //pin of controlling turning---- IN3 of motor driver board
int pinRF=8; //pin of controlling turning---- IN4 of motor driver board
unsigned char Lpwm_val = 250; //initialized left wheel speed at 250
unsigned char Rpwm_val = 250; //initialized right wheel speed at 250
int Car_state=0; //the working state of car
int servopin=3; //defining digital port pin 3, connecting to signal line of servo motor
int myangle; //defining variable of angle
int pulsewidth; //defining variable of pulse width
unsigned char DuoJiao=60; //initialized angle of motor at 60°
void Sensor_IO_Config() //IO initialized function of three line tracking , all setting at input
{
pinMode(SensorLeft,INPUT);
pinMode(SensorMiddle,INPUT);
pinMode(SensorRight,INPUT);
}
void Sensor_Scan(void) //function of reading-in signal of line tracking module