【Arduino】測距センサ（PSD）を使って物体に反応するロボットを作る！

1const int PIN_MOTOR_L_A = 6;  //左モータA
2const int PIN_MOTOR_L_B = 9;  //左モータB
3const int PIN_MOTOR_R_A = 5;  //右モータA
4const int PIN_MOTOR_R_B = 3;  //右モータB
5const int PIN_BUTTON = 8;  //押しボタンスイッチ
6
7//前進
8void moveForward(int power, int duration) {
9  analogWrite(PIN_MOTOR_L_A, power);  //左A
10  analogWrite(PIN_MOTOR_L_B, 0);  //左B
11  analogWrite(PIN_MOTOR_R_A, power);  //右A
12  analogWrite(PIN_MOTOR_R_B, 0);  //右B
13  delay(duration);
14}
15
16//後退
17void moveBackward(int power, int duration) {
18  analogWrite(PIN_MOTOR_L_A, 0);  //左A
19  analogWrite(PIN_MOTOR_L_B, power);  //左B
20  analogWrite(PIN_MOTOR_R_A, 0);  //右A
21  analogWrite(PIN_MOTOR_R_B, power);  //右B
22  delay(duration);
23}
24
25//右旋回
26void turnRight(int power, int duration) {
27  analogWrite(PIN_MOTOR_L_A, power);  //左A
28  analogWrite(PIN_MOTOR_L_B, 0);  //左B
29  analogWrite(PIN_MOTOR_R_A, 0);  //右A
30  analogWrite(PIN_MOTOR_R_B, power);  //右B
31  delay(duration);
32}
33
34//左旋回
35void turnLeft(int power, int duration) {
36  analogWrite(PIN_MOTOR_L_A, 0);  //左A
37  analogWrite(PIN_MOTOR_L_B, power);  //左B
38  analogWrite(PIN_MOTOR_R_A, power);  //右A
39  analogWrite(PIN_MOTOR_R_B, 0);  //右B
40  delay(duration);
41}
42
43//ブレーキ
44void stopBreak(int duration) {
45  digitalWrite(PIN_MOTOR_L_A, LOW);  //左A
46  digitalWrite(PIN_MOTOR_L_B, LOW);  //左B
47  digitalWrite(PIN_MOTOR_R_A, LOW);  //右A
48  digitalWrite(PIN_MOTOR_R_B, LOW);  //右B
49  delay(duration);
50}
51
52//フリー
53void stopFree(int duration) {
54  digitalWrite(PIN_MOTOR_L_A, HIGH);  //左A
55  digitalWrite(PIN_MOTOR_L_B, HIGH);  //左B
56  digitalWrite(PIN_MOTOR_R_A, HIGH);  //右A
57  digitalWrite(PIN_MOTOR_R_B, HIGH);  //右B
58  delay(duration);
59}
60
61void setup() {
62  //ピンの出力(Output)or入力(Input)設定
63  pinMode(PIN_MOTOR_L_A, OUTPUT);  //左モータA
64  pinMode(PIN_MOTOR_L_B, OUTPUT);  //左モータB
65  pinMode(PIN_MOTOR_R_A, OUTPUT);  //右モータA
66  pinMode(PIN_MOTOR_R_B, OUTPUT);  //右モータB
67  pinMode(PIN_BUTTON, INPUT);  //スイッチ
68
69  //スタートボタンを押されるのを待つ
70  while(digitalRead(PIN_BUTTON)==0);
71  delay(1000);  //1秒待つ
72}
73
74void loop() {
75  int sensor_value;  //距離センサの値
76
77  sensor_value = analogRead(A0);  //センサの値を読み取る
78  if (sensor_value < 270) {
79    //270より小さい場合（遠い場合）
80    moveForward(255, 10);
81  } else {
82    stopBreak(10);
83  }
84  
85}
86