int motor1a = 1; //declares the first pin for the left
motor
int motor1b = 10; //declares the other pin for
the left motor
int motor1pmw = 5; // this is the pmw pin
for the left motor that will set how much battery power the motor is
getting (speed)
int motor2a = 2; //declares the
first pin for the right motor
int motor2b = 7; //
declares the other pin for the right motor
int motor2pmw = 6;
// this is the pmw pin for the left motor that will set how much
battery power the motor is getting (speed)
int switchPinF =
11; // button is connected to pin 6
int valF;
// variable for reading the pin status
int
buttonStateF; // variable to hold the button state
int
switchPinB = 4; // switch is connected to pin 4
int
valB; // variable for reading the pin status
int
buttonStateB; // variable to hold the button state
int
switchPinL = 12; // switch is connected to pin 12
int
valL; // variable for reading the pin status
int
buttonStateL; // variable to hold the button state
int
switchPinR = 15; // switch is connected to pin 15
int
valR; // variable for reading the pin status
int
buttonStateR; // variable to hold the button state
int
stepb []={0,0,0,0,0,0,0,0,0,0};//array for storing commands
int
list = 0; //variable to change
the position in the array the command is stored
int go = 3;
//this declares the start push button
int
run = 0; // variable that switches between
1 and 0
int goval;
//variable reading pin status
int action;
// variable to run threw the command code
int d =
1000; //the time that each action runs
int
led = 14; // declares led as pin 14
void
input()
/*process that can be called up
later in the program to assign numbers to one of the four possible
commands 1 for forward 2 for backwards 3 for left and 4 for right*/
{
if
(valF != buttonStateF) { // the forward button state has
changed!
if (valF == LOW) { // check if the
forward button is pressed
stepb[list] = 1;
// store the number 1 for the forward command
list++; // increase list to store the
next command number
digitalWrite(led,HIGH); //
turns led on so you know the button was pushed
}
}
if
(valB != buttonStateB) { // the button state has changed!
if (valB == LOW) { // check if the button is pressed
stepb[list] = 2; // store the number 2 for the
forward command
list++;
// increase list to store the next command number
digitalWrite(led,HIGH); // turns led on so you know the button
was pushed
}
}
if (valL !=
buttonStateL) { // the button state has changed!
if (valL == LOW) { // check if the button is pressed
stepb[list] = 3; // store the number 3 for the
forward command
list++;
// increase list to store the next command number
digitalWrite(led,HIGH); // turns led on so you know the button
was pushed
}
}
if (valR !=
buttonStateR) { // the button state has changed!
if (valR == LOW) { // check if the button is pressed
stepb[list] = 4; // store the number 4 for the
forward command
list++;
// increase list to store the next command number
digitalWrite(led,HIGH); // turns led on so you know the button
was pushed
}
}
delay(500);
digitalWrite(led,LOW);
//turns LED off
}
void
comand(){ /* process that can be called back later in the program that
translates the numbers into actual commands such as forward backwards
left and right*/
if
(action == 1) //forward
{
digitalWrite(motor1a,
HIGH);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a,
HIGH);
digitalWrite(motor2b, LOW);
delay(d);
}
if
(action == 2){ //backward
digitalWrite(motor1a,
LOW);
digitalWrite(motor1b, HIGH);
digitalWrite(motor2a,
LOW);
digitalWrite(motor2b, HIGH);
delay(d);
}
if
(action == 3){ //left
digitalWrite(motor1a, LOW);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a, LOW);
digitalWrite(motor2b, LOW);
delay(100);// turns motor off giving it a chance to pause so it is less jerky
digitalWrite(motor1a,
LOW);
digitalWrite(motor1b, HIGH);
digitalWrite(motor2a,
HIGH);
digitalWrite(motor2b, LOW);
delay(350);
digitalWrite(motor1a, LOW);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a, LOW);
digitalWrite(motor2b, LOW);
delay(100);// turns motor off giving it a chance to pause so it is less jerky
}
if
(action == 4){ //right
digitalWrite(motor1a, LOW);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a, LOW);
digitalWrite(motor2b, LOW);
delay(100);
digitalWrite(motor1a,
HIGH);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a,
LOW);
digitalWrite(motor2b, HIGH);
delay(350);
digitalWrite(motor1a, LOW);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a, LOW);
digitalWrite(motor2b, LOW);
delay(100);
}
}
void
setup() //the setup faze where things are declared(runs through once)
{
pinMode(motor1a,
OUTPUT); // these simply are declaring them as outputs
pinMode(motor1b,
OUTPUT); // these simply are declaring them as outputs
pinMode(motor1pmw,
OUTPUT); // these simply are declaring them as outputs
pinMode(motor2a,
OUTPUT); // these simply are declaring them as outputs
pinMode(motor2b,
OUTPUT); // these simply are declaring them as outputs
pinMode(motor2pmw,
OUTPUT); // these simply are declaring them as outputs
analogWrite(motor1pmw,
255); // this is the analog speed value for the arduino (0-255)
which controls motor speed 255 being the fastest
analogWrite(motor2pmw,
255); // this is the analog speed value for the arduino (0-255)
which controls motor speed 255 being the fastest
pinMode(led,
OUTPUT); // these simply are declaring them as outputs
}
void
loop()
{
if (run == 0){
valF =
digitalRead(switchPinF); // read input value and store it in valF
valB
= digitalRead(switchPinB); // read input value and store it in
valB
valL = digitalRead(switchPinL); // read input value
and store it in valL
valR = digitalRead(switchPinR); //
read input value and store it in valR
goval = digitalRead(go);
// read input value and store it in goval
if
(goval == HIGH) //if the button was pushed
start running the cars program
{
run = 1;
// set run = 1
}
input();
// run the input process above
buttonStateF
= valF; // save the new state in our variable
buttonStateB
= valB; // save the new state in our variable
buttonStateL
= valL; // save the new state in our variable
buttonStateR
= valR; // save the new state in our variable
}
if
(run == 1) // run the car through the
commands programed in
{
for(int x=0; x<list;
x++) //runs the loop as long as "x" is less than "list" and
add 1 to "x" every time you run through the loop
{
action=stepb[x]; // sets action equal to a number
command saved in the input process
comand();
//runs the command process
}
run
= 0; //resets run = 0 to stop the car
from looping
list = 0;
//reset list = 0
/* prevents car
from continuously carrying out its last step.*/
digitalWrite(motor1a,
LOW);
digitalWrite(motor1b, LOW);
digitalWrite(motor2a,
LOW);
digitalWrite(motor2b, LOW);
}
}If we had more time to work on the project, we would install sensors so the car wouldn't be running into anything. Also, we would transfer everything to a circuit board so it would look nicer.
